1 | #ifndef IN_OUT_INTERFACE_H
|
---|
2 | #define IN_OUT_INTERFACE_H
|
---|
3 |
|
---|
4 | #include <Pacpus/kernel/inputOutputBase.h>
|
---|
5 | #include <Pacpus/kernel/Log.h>
|
---|
6 | #include <Pacpus/kernel/PacpusEvent.h>
|
---|
7 | #include <Pacpus/kernel/CommunicationComponent.h>
|
---|
8 |
|
---|
9 | #include <typeinfo>
|
---|
10 | #include <QThread>
|
---|
11 | #include <QDebug>
|
---|
12 | #include <QApplication>
|
---|
13 |
|
---|
14 | #include <QByteArray>
|
---|
15 |
|
---|
16 | #define ADD_INPUT(name,ComponentType, DataType, functionName) input.insert(name,new InputInterface<DataType,ComponentType> (name,this,&ComponentType::functionName))
|
---|
17 | #define ADD_OUTPUT(name,ComponentType, DataType) output.insert(name,new OutputInterface<DataType,ComponentType> (name,this))
|
---|
18 | #define GET_OUTPUT(name,ComponentType, DataType) dynamic_cast<OutputInterface<DataType,ComponentType> *> (output.value(name))
|
---|
19 |
|
---|
20 | namespace pacpus {
|
---|
21 |
|
---|
22 | template <class T, class C>
|
---|
23 | class InputInterface : public InputInterfaceBase
|
---|
24 | {
|
---|
25 | public:
|
---|
26 | InputInterface(QString name, C * component, void (C::*m)(const T&)):InputInterfaceBase(name,component,component), method(m) {}
|
---|
27 | ~InputInterface() {}
|
---|
28 |
|
---|
29 | enum ReadingMode {
|
---|
30 | NeverSkip,
|
---|
31 | TimeBounded,
|
---|
32 | GetLast
|
---|
33 | };
|
---|
34 |
|
---|
35 | void setReadingMode(ReadingMode mode) { readingMode_ = mode;}
|
---|
36 | size_t getDataSize() {return sizeof(T);}
|
---|
37 | QString getDataType() {return QString(typeid(T).name());}
|
---|
38 |
|
---|
39 | protected:
|
---|
40 | ReadingMode readingMode_;
|
---|
41 | int boundingTime_;
|
---|
42 |
|
---|
43 | public:
|
---|
44 |
|
---|
45 | void customEvent(QEvent* event) {
|
---|
46 |
|
---|
47 | switch (event->type()) {
|
---|
48 |
|
---|
49 | // from Component to Component (T->T)
|
---|
50 | case TYPED_EVENT: {
|
---|
51 | PacpusTypedEvent<T> * typedEvent = dynamic_cast<PacpusTypedEvent<T> *> (event);
|
---|
52 | //qDebug() << "E1 ";
|
---|
53 | //qDebug() << "recived 2 thread " << QThread::currentThread();
|
---|
54 | if(typedEvent->tr_ == 0 && readingMode_ == TimeBounded) {
|
---|
55 | //LOG_WARN("Incorrect TimeRange (0), switch to NeverSkip");
|
---|
56 | readingMode_ = NeverSkip;}
|
---|
57 |
|
---|
58 | switch (readingMode_){
|
---|
59 | case TimeBounded:
|
---|
60 | if(road_time() - typedEvent->t_> typedEvent->tr_)
|
---|
61 | break;
|
---|
62 | (dynamic_cast<C*>(_component)->*method)(typedEvent->_data);
|
---|
63 | break;
|
---|
64 | case GetLast:
|
---|
65 | (dynamic_cast<C*>(_component)->*method)(typedEvent->_data);
|
---|
66 | QCoreApplication::removePostedEvents(this,TYPED_EVENT); // delete all remining events
|
---|
67 | break;
|
---|
68 | case NeverSkip:
|
---|
69 | default:
|
---|
70 | (dynamic_cast<C*>(_component)->*method)(typedEvent->_data);
|
---|
71 | }
|
---|
72 | break;
|
---|
73 | }
|
---|
74 |
|
---|
75 | // from Connection interface to Component (G->T)
|
---|
76 | case GENERIC_EVENT2: {
|
---|
77 | PacpusTypedEvent<QByteArray> * genericEvent = dynamic_cast<PacpusTypedEvent<QByteArray> *> (event);
|
---|
78 | qDebug() << "E2 ";
|
---|
79 | //if(sizeof(T) != genericEvent->_data.size())
|
---|
80 | // qDebug() << "Incorrecte size " << sizeof(T) << " " << genericEvent->_data.size();
|
---|
81 | qDebug() << "t[18]= " << road_time();
|
---|
82 | T data;
|
---|
83 | QByteArray& buf = (QByteArray&) genericEvent->_data;
|
---|
84 | //qDebug() << "DataSize " <<buf.size();
|
---|
85 | QDataStream in(&buf,QIODevice::ReadOnly);
|
---|
86 |
|
---|
87 | qDebug() << "t[19]= " << road_time();
|
---|
88 | //in >> data; // copy 7
|
---|
89 | qDebug() << "t[20]= " << road_time();
|
---|
90 |
|
---|
91 | (dynamic_cast<C*>(_component)->*method)(data); // copy 8 X
|
---|
92 |
|
---|
93 | qDebug() << "t[21]= " << road_time();
|
---|
94 | break;
|
---|
95 | }
|
---|
96 |
|
---|
97 | // from Component to Connection interface (T->G) (Typed in QByteArray)
|
---|
98 | case GENERIC_EVENT3: {
|
---|
99 | PacpusTypedEvent<T> * typedEvent = dynamic_cast<PacpusTypedEvent<T> *> (event);
|
---|
100 | qDebug() << "E3 ";
|
---|
101 | qDebug() << "t[6]= " << road_time();
|
---|
102 | (dynamic_cast<C*>(_component)->*method)(typedEvent->_data); // copy 3 X
|
---|
103 | qDebug() << "t[7]= " << road_time();
|
---|
104 | break;
|
---|
105 | }
|
---|
106 |
|
---|
107 | default:
|
---|
108 |
|
---|
109 | qDebug() << "Bad event ID " << event->type();
|
---|
110 | break;
|
---|
111 | }
|
---|
112 |
|
---|
113 |
|
---|
114 | }
|
---|
115 |
|
---|
116 | protected:
|
---|
117 | void (C::*method)(const T&);
|
---|
118 |
|
---|
119 | };
|
---|
120 |
|
---|
121 | template <class T, class C>
|
---|
122 | class OutputInterface : public OutputInterfaceBase
|
---|
123 | {
|
---|
124 | public:
|
---|
125 | OutputInterface(QString name, C * component):OutputInterfaceBase(name,component,component) {}
|
---|
126 | ~OutputInterface() {}
|
---|
127 |
|
---|
128 | // Used by Components to send data througth typed output
|
---|
129 | void send(const T & data) {
|
---|
130 | for(QList<ConnectionBase>::iterator it = _connection.begin(); it!=_connection.end(); ++it){
|
---|
131 |
|
---|
132 | if(it->getInputInterface()->getDataType() != QString(typeid(QByteArray).name()))
|
---|
133 | QApplication::postEvent(it->getInputInterface(),new PacpusTypedEvent<T>(QEvent::Type(TYPED_EVENT),data),it->getPriority());
|
---|
134 | else {
|
---|
135 | qDebug() << "t[1]= " << road_time();
|
---|
136 | //QByteArray buf((char*)(&data),sizeof(T));
|
---|
137 | QByteArray buf;
|
---|
138 | QDataStream out(&buf,QIODevice::ReadWrite);
|
---|
139 | qDebug() << "t[2]= " << road_time();
|
---|
140 | // out << data; // Copy 1
|
---|
141 | qDebug() << "t[3]= " << road_time();
|
---|
142 |
|
---|
143 | PacpusTypedEvent<QByteArray> * ev =new PacpusTypedEvent<QByteArray>(QEvent::Type(GENERIC_EVENT3),buf);
|
---|
144 | qDebug() << "t[4]= " << road_time();
|
---|
145 | QApplication::postEvent(it->getInputInterface(),ev,it->getPriority()); // Copy 2 (ctor)
|
---|
146 | qDebug() << "t[5]= " << road_time();
|
---|
147 | //QApplication::postEvent(it->getInputInterface(),new PacpusTypedEvent<QByteArray>(QEvent::Type(GENERIC_EVENT3),buf),it->getPriority()); // Copy 2 (ctor)
|
---|
148 | }
|
---|
149 |
|
---|
150 | //qDebug() << "send thread " << QThread::currentThread();
|
---|
151 | }
|
---|
152 | }
|
---|
153 |
|
---|
154 | // Used by Connection Interfaces only to pose generic event
|
---|
155 | void sendGenericData(char * data, size_t size) {
|
---|
156 | qDebug() << "t[15]= " << road_time();
|
---|
157 | QByteArray buf(data,size); // copy 5
|
---|
158 | qDebug() << "t[16]= " << road_time();
|
---|
159 | for(QList<ConnectionBase>::iterator it = _connection.begin(); it!=_connection.end(); ++it)
|
---|
160 | QApplication::postEvent(it->getInputInterface(),new PacpusTypedEvent<QByteArray>(QEvent::Type(GENERIC_EVENT2),buf),it->getPriority()); // Copy 6(ctor)
|
---|
161 | qDebug() << "t[17]= " << road_time();
|
---|
162 | //qDebug() << "send thread " << QThread::currentThread();
|
---|
163 | }
|
---|
164 |
|
---|
165 | size_t getDataSize() {return sizeof(T);}
|
---|
166 | QString getDataType() {return QString(typeid(T).name());}
|
---|
167 | };
|
---|
168 |
|
---|
169 |
|
---|
170 | } // namespace pacpus
|
---|
171 |
|
---|
172 | #endif // IN_OUT_INTERFACE_H
|
---|