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Manager to handle Behaviors. More...
#include <SurgSim/Framework/BehaviorManager.h>
Public Member Functions | |
BehaviorManager () | |
~BehaviorManager () | |
virtual int | getType () const override |
Returns the type of Manager. More... | |
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ComponentManager (const std::string &name="Unknown Component Manager") | |
virtual | ~ComponentManager () |
bool | enqueueAddComponent (const std::shared_ptr< Component > &component) |
Queues a component to be added later. More... | |
bool | enqueueRemoveComponent (const std::shared_ptr< Component > &component) |
Queues a component to be removed. More... | |
std::shared_ptr< Runtime > | getRuntime () const |
void | setRuntime (std::shared_ptr< Runtime > val) |
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BasicThread (const std::string &name="Unknown Thread") | |
virtual | ~BasicThread () noexcept(false) |
C++11 introduced noexcept. More... | |
void | start (std::shared_ptr< Barrier > startupBarrier=nullptr, bool isSynchronous=false) |
C++11 introduced noexcept. More... | |
void | stop () |
Stopping the execution, blocks until the running thread has actually stopped,. More... | |
void | setIdle (bool isIdle) |
Set/Unset the thread in an idle state (doUpdate() called or not in the update() method) More... | |
bool | isIdle () |
Query if this thread is in idle state or not. More... | |
bool | isInitialized () |
Query if this object is initialized. More... | |
bool | isRunning () const |
Query if this object is running. More... | |
void | operator() () |
This is what boost::thread executes on thread creation. More... | |
boost::thread & | getThread () |
std::string | getName () const |
void | setRate (double val) |
Set the update rate of the thread. More... | |
bool | setSynchronous (bool val) |
Sets the thread to synchronized execution in concert with the startup barrier, the startup barrier has to exist for this call to succeed. More... | |
bool | isSynchronous () |
Query if this object is synchronized. More... | |
Protected Member Functions | |
virtual bool | executeAdditions (const std::shared_ptr< Component > &component) override |
Adds a component. More... | |
virtual bool | executeRemovals (const std::shared_ptr< Component > &component) override |
Handle representations, override for each thread. More... | |
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template<class T > | |
std::shared_ptr< T > | tryAddComponent (std::shared_ptr< SurgSim::Framework::Component > component, std::vector< std::shared_ptr< T >> *container) |
Template version of the addComponent method. More... | |
template<class T > | |
bool | tryRemoveComponent (std::shared_ptr< SurgSim::Framework::Component > component, std::vector< std::shared_ptr< T >> *container) |
Template version of the removeComponent method. More... | |
void | processComponents () |
Processes all the components that are scheduled for addition or removal, this needs to be called inside the doUpdate() function. More... | |
void | processBehaviors (const double dt) |
Processes behaviors This needs to be called inside doUpdate() function in each 'sub' manager. More... | |
void | copyScheduledComponents (std::vector< std::shared_ptr< Component >> *inflightAdditions, std::vector< std::shared_ptr< Component >> *inflightRemovals) |
Helper, blocks access to the additions and removal queue and copies the components from there to the intermediate inflight queues, after this call, the incoming queues will be empty. More... | |
std::shared_ptr< SurgSim::Framework::Logger > | getLogger () const |
Returns this manager's logger. More... | |
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bool | initialize () |
Trigger the initialization of this object, this will be called before all other threads doStartup() are called. More... | |
bool | startUp () |
Trigger the startup of this object, this will be called after all other threads doInit() was called the thread will only enter the run loop triggering upated() if all threads doInit() and doStartup() returned true. More... | |
bool | waitForBarrier (bool success) |
Private Member Functions | |
virtual bool | doInitialize () override |
virtual bool | doStartUp () override |
virtual bool | doUpdate (double dt) override |
Implementation of actual work function for this thread, this has a default implementation to handle destruction better, as it could be called while the thread is under destruction, if left unimplemented this would trigger a call to a pure virtual function. More... | |
Additional Inherited Members | |
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boost::mutex | m_componentMutex |
Blocks protects addition and removal queues. More... | |
std::shared_ptr< SurgSim::Framework::Logger > | m_logger |
Logger for this class. More... | |
std::vector< std::shared_ptr< SurgSim::Framework::Behavior > > | m_behaviors |
Collection of behaviors. More... | |
std::vector< std::shared_ptr< Component > > | m_componentAdditions |
std::vector< std::shared_ptr< Component > > | m_componentRemovals |
Manager to handle Behaviors.
The manager will collect all the behaviors in the scene through addComponent/removeComponent calls. All the behaviors will be update once per period (default 30Hz) once the BehaviorManager is started.
SurgSim::Framework::BehaviorManager::BehaviorManager | ( | ) |
SurgSim::Framework::BehaviorManager::~BehaviorManager | ( | ) |
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overrideprivatevirtual |
Implements SurgSim::Framework::BasicThread.
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overrideprivatevirtual |
Implements SurgSim::Framework::BasicThread.
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overrideprivatevirtual |
Implementation of actual work function for this thread, this has a default implementation to handle destruction better, as it could be called while the thread is under destruction, if left unimplemented this would trigger a call to a pure virtual function.
Reimplemented from SurgSim::Framework::BasicThread.
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overrideprotectedvirtual |
Adds a component.
component | The component to be added. |
Implements SurgSim::Framework::ComponentManager.
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overrideprotectedvirtual |
Handle representations, override for each thread.
component | The component to be removed. |
Implements SurgSim::Framework::ComponentManager.
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overridevirtual |
Returns the type of Manager.
Implements SurgSim::Framework::ComponentManager.