MARobotStateUpdater.cpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  AiBO+ is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#include "MARobotStateUpdater.hpp"

#include "MABodyMotion.hpp"
#include "MARobotState.hpp"

#include <MCLog.hpp>

namespace
{
// Robot state updater pointer list type
typedef std::vector<MARobotStateUpdater*> RobotStateUpdaterList;

MCThreadLocalData<RobotStateUpdaterList> Updaters(true);
}

MARobotStateUpdater::MARobotStateUpdater(MA::RobotStateUpdateType update_type) :
  UpdateType(update_type)
{
}


MARobotStateUpdater::~MARobotStateUpdater()
{
  if (likely(!Updaters.get()))
    return;

  // Remove the current instance from the global updater list if presented
  for (auto iter = Updaters->begin(); iter != Updaters->end(); ++iter)
  {
    if (*iter == this)
    {
      Updaters->erase(iter);
      break;
    }
  }
}


void MARobotStateUpdater::RegisterUpdater(MARobotStateUpdater& updater)
{
  if (likely(!Updaters.get()))
  {
    Updaters.reset(new RobotStateUpdaterList);
  }
  const auto Iter = std::find(Updaters->begin(), Updaters->end(), &updater);

  if (Iter == Updaters->end())
  {
    // Add the current instance to the global updater list
    Updaters->push_back(&updater);
  }
}


void MARobotStateUpdater::Run(MARobotState& state)
{
  if (unlikely(!Updaters.get()))
    return;

  RobotStateUpdaterList& UpdaterList = *Updaters.get();

  // Reset the skit playback
  state.BodyMotion->SkitPlayback = 0;
  // Sensor data updates
  for (auto& updater : UpdaterList)
  {
    if (updater->UpdateType == MA::UpdateSensorData)
    {
      updater->UpdateRobotState(state);
    }
  }
  // Sensor indicator updates
  for (auto& updater : UpdaterList)
  {
    if (updater->UpdateType == MA::UpdateSensorIndicators)
      updater->UpdateRobotState(state);
  }
  // Global indicator updates
  for (auto& updater : UpdaterList)
  {
    if (updater->UpdateType == MA::UpdateComplexIndicators)
      updater->UpdateRobotState(state);
  }
}