coresync.cc

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/*
 * Copyright (C) 2008 Kamil Dudka <xdudka00@stud.fit.vutbr.cz>
 *
 * This file is part of rob08
 *
 * rob08 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 3 of the License, or
 * any later version.
 *
 * rob08 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 rob08.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "config.h"
#include "coresync.h"

#include "geometry.h"
#include "robIO.h"
#include "vscan.h"
#include "trilobot.h"

#ifndef BUILDING_DOX
#   include <QMutex>
#   include <sstream>
#endif

using std::string;
using namespace StreamDecorator;

// /////////////////////////////////////////////////////////////////////////////
// CoreSync implementation
struct CoreSync::Private {
    ICore       *core;
    QMutex      mutex;
};
CoreSync::CoreSync(ICore *core):
    d(new Private)
{
    d->core = core;
}
CoreSync::~CoreSync() {
    delete d;
}
ICore* CoreSync::getCore() {
    return d->core;
}
void CoreSync::sync(const std::string &data) {
    std::istringstream stream(data);
    d->mutex.lock();
#if DEBUG_MUTEX
    std::cerr
        << Color(C_LIGHT_RED) << "CoreSync" << Color(C_NO_COLOR) << ": "
        << Color(C_YELLOW) << "locked for sync ... " << Color(C_NO_COLOR)
        << std::flush;
#endif
    d->core->Import(stream);
#if DEBUG_MUTEX
    std::cerr
        << Color(C_LIGHT_BLUE) << "unlocked" << Color(C_NO_COLOR)
        << std::endl;
#endif
    d->mutex.unlock();
}

void CoreSync::lockForVis() {
    d->mutex.lock();
#if DEBUG_MUTEX
    std::cerr
        << Color(C_LIGHT_RED) << "CoreSync" << Color(C_NO_COLOR) << ": "
        << Color(C_LIGHT_CYAN) << "locked by GUI ... " << Color(C_NO_COLOR)
        << std::flush;
#endif
}

void CoreSync::unlockAfterVis() {
#if DEBUG_MUTEX
    std::cerr
        << Color(C_LIGHT_BLUE) << "unlocked" << Color(C_NO_COLOR)
        << std::endl;
#endif
    d->mutex.unlock();
}

// /////////////////////////////////////////////////////////////////////////////
// CoreInfo implementation
void readCoreInfo(LockedCore &core, CoreInfo &info) {
    Trilobot &bot = core->GetTrilobot();
    const Position &pos = bot.Position();

    info.x          = pos.x;
    info.y          = pos.y;
    info.angle      = pos.angle;
    info.distance   = bot.Drive().Distance();
    info.speed      = bot.Speed();
    info.radius     = bot.Radius();
}

// /////////////////////////////////////////////////////////////////////////////
// SyncReader implementation
struct SyncReader::Private {
    IVScan      *scan;
    CoreSync    *core;
    bool        syncExit;
};
SyncReader::SyncReader(std::istream &input, CoreSync *cs):
    d(new Private)
{
    d->scan = VScanFactory::createVScan(input, "-");
    d->core = cs;
    d->syncExit = false;
}
SyncReader::~SyncReader() {
    delete d->scan;
    delete d;
}

void SyncReader::syncExit() {
    d->syncExit = true;
}

bool SyncReader::hasError() const {
    return d->scan->hasError();
}

void SyncReader::run() {
    string data;
    while (d->scan->readNext(data)) {
        if (d->syncExit) {
#if DEBUG_THREAD
            std::cerr
                << Color(C_LIGHT_RED) << "SyncReader" << Color(C_NO_COLOR) << ": "
                << Color(C_YELLOW) << "syncExit called, exiting..." << Color(C_NO_COLOR)
                << std::endl;
#endif
            return;
        }
        d->core->sync(data);
    }
#if DEBUG_THREAD
    std::cerr
        << Color(C_LIGHT_RED) << "SyncReader" << Color(C_NO_COLOR) << ": "
        << Color(C_LIGHT_GREEN) << "end of input, exiting..." << Color(C_NO_COLOR)
        << std::endl;
#endif
}

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