Public Member Functions | Protected Member Functions | Private Member Functions | List of all members
SurgSim::Framework::BehaviorManager Class Reference

Manager to handle Behaviors. More...

#include <SurgSim/Framework/BehaviorManager.h>

Inheritance diagram for SurgSim::Framework::BehaviorManager:
SurgSim::Framework::ComponentManager SurgSim::Framework::BasicThread

Public Member Functions

 BehaviorManager ()
 
 ~BehaviorManager ()
 
int getType () const override
 Returns the type of Manager. More...
 
- Public Member Functions inherited from SurgSim::Framework::ComponentManager
 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< RuntimegetRuntime () const
 
void setRuntime (std::shared_ptr< Runtime > val)
 
- Public Member Functions inherited from SurgSim::Framework::BasicThread
 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...
 
double getCpuTime () const
 
size_t getUpdateCount () const
 
void resetCpuTimeAndUpdateCount ()
 Reset the cpu time and the update count to 0. More...
 

Protected Member Functions

bool executeAdditions (const std::shared_ptr< Component > &component) override
 Adds a component. More...
 
bool executeRemovals (const std::shared_ptr< Component > &component) override
 Handle representations, override for each thread. More...
 
- Protected Member Functions inherited from SurgSim::Framework::ComponentManager
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, std::vector< std::shared_ptr< SceneElement >> *inflightElements)
 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::LoggergetLogger () const
 Returns this manager's logger. More...
 
void doBeforeStop () override
 Prepares the thread for its execution to be stopped. More...
 
template<class T >
void retireComponents (const std::vector< std::shared_ptr< T >> &container)
 
- Protected Member Functions inherited from SurgSim::Framework::BasicThread
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

bool doInitialize () override
 
bool doStartUp () override
 
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

- Protected Attributes inherited from SurgSim::Framework::ComponentManager
boost::mutex m_componentMutex
 Blocks protects addition and removal queues. 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
 
std::vector< std::shared_ptr< SceneElement > > m_elementCache
 
- Protected Attributes inherited from SurgSim::Framework::BasicThread
Timer m_timer
 Timer to measure the actual time taken to doUpdate. More...
 
std::shared_ptr< SurgSim::Framework::Loggerm_logger
 Logger for this thread. More...
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ BehaviorManager()

SurgSim::Framework::BehaviorManager::BehaviorManager ( )

◆ ~BehaviorManager()

SurgSim::Framework::BehaviorManager::~BehaviorManager ( )

Member Function Documentation

◆ doInitialize()

bool SurgSim::Framework::BehaviorManager::doInitialize ( )
overrideprivatevirtual

◆ doStartUp()

bool SurgSim::Framework::BehaviorManager::doStartUp ( )
overrideprivatevirtual

◆ doUpdate()

bool SurgSim::Framework::BehaviorManager::doUpdate ( double  dt)
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.

Returns
false when the thread is done, this will stop execution

Reimplemented from SurgSim::Framework::BasicThread.

◆ executeAdditions()

bool SurgSim::Framework::BehaviorManager::executeAdditions ( const std::shared_ptr< Component > &  component)
overrideprotectedvirtual

Adds a component.

Parameters
componentThe component to be added.
Returns
true if the component was scheduled for addition, this does not indicate that the component will actually be added to this manager.

Implements SurgSim::Framework::ComponentManager.

◆ executeRemovals()

bool SurgSim::Framework::BehaviorManager::executeRemovals ( const std::shared_ptr< Component > &  component)
overrideprotectedvirtual

Handle representations, override for each thread.

Parameters
componentThe component to be removed.
Returns
true if the component was scheduled for removal, this does not indicate that the component will actually be removed from this manager.

Implements SurgSim::Framework::ComponentManager.

◆ getType()

int SurgSim::Framework::BehaviorManager::getType ( ) const
overridevirtual

Returns the type of Manager.

Implements SurgSim::Framework::ComponentManager.


The documentation for this class was generated from the following files: