mtsCommandQueuedWrite.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*

  Author(s):  Ankur Kapoor, Peter Kazanzides, Anton Deguet
  Created on: 2005-05-02

  (C) Copyright 2005-2014 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/


#ifndef _mtsCommandQueuedWrite_h
#define _mtsCommandQueuedWrite_h

#include <cisstMultiTask/mtsCommandQueuedWriteBase.h>


template <class _argumentType>
class mtsCommandQueuedWrite: public mtsCommandQueuedWriteBase
{
public:
    typedef mtsCommandQueuedWriteBase BaseType;
    typedef _argumentType ArgumentType;
    typedef typename mtsGenericTypes<ArgumentType>::FinalType ArgumentQueueType;
    typedef typename mtsGenericTypesUnwrap<ArgumentQueueType>::BaseType ArgumentQueueBaseType;

    typedef mtsCommandQueuedWrite<ArgumentType> ThisType;

protected:
    mtsQueue<ArgumentQueueType> ArgumentsQueue;

private:
    inline mtsCommandQueuedWrite(const ThisType & CMN_UNUSED(other));

public:

    inline mtsCommandQueuedWrite(void):
        BaseType(),
        ArgumentsQueue(0, ArgumentQueueType())
    {}


    inline mtsCommandQueuedWrite(mtsCommandWriteBase * actualCommand):
        BaseType(0, actualCommand, 0),
        ArgumentsQueue(0, ArgumentQueueType())
    {}


    inline mtsCommandQueuedWrite(mtsMailBox * mailBox, mtsCommandWriteBase * actualCommand, size_t size):
        BaseType(mailBox, actualCommand, size),
        ArgumentsQueue(0, ArgumentQueueType())
    {
        const ArgumentQueueType * argumentPrototype = dynamic_cast<const ArgumentQueueType *>(this->GetArgumentPrototype());
        if (argumentPrototype) {
            ArgumentsQueue.SetSize(size, *argumentPrototype);
            BlockingFlagQueue.SetSize(size, MTS_NOT_BLOCKING);
            mtsCommandWriteBase *cmd = 0;
            FinishedEventQueue.SetSize(size, cmd);
        } else {
            CMN_LOG_INIT_ERROR << "Class mtsCommandQueuedWrite: constructor: can't find argument prototype from actual command."
                               << std::endl;
        }
    }


    // ArgumentsQueue destructor should get called
    inline virtual ~mtsCommandQueuedWrite() {}


    inline virtual mtsCommandQueuedWriteBase * Clone(mtsMailBox * mailBox, size_t size) const {
        return new mtsCommandQueuedWrite(mailBox, this->ActualCommand, size);
    }


    // Allocate should be called when a task calls GetMethodXXX().
    inline virtual void Allocate(size_t size) {
        if (ArgumentsQueue.GetSize() != size) {
            if (ArgumentsQueue.GetSize() > 0) {
                // Probably should never happen
                CMN_LOG_INIT_WARNING << "Class mtsCommandQueuedWrite: Allocate(): changing ArgumentsQueue size from " << ArgumentsQueue.GetSize()
                                     << " to " << size << std::endl;
            }
            const ArgumentQueueType * argumentPrototype = dynamic_cast<const ArgumentQueueType *>(this->GetArgumentPrototype());
            if (argumentPrototype) {
                ArgumentsQueue.SetSize(size, *argumentPrototype);
                BlockingFlagQueue.SetSize(size, MTS_NOT_BLOCKING);
                mtsCommandWriteBase *cmd = 0;
                FinishedEventQueue.SetSize(size, cmd);
            } else {
                CMN_LOG_INIT_ERROR << "Class mtsCommandQueuedWrite: constructor: can't find argument prototype from actual command."
                                   << std::endl;
            }
        }
    }

    mtsExecutionResult Execute(const mtsGenericObject & argument,
                               mtsBlockingType blocking,
                               mtsCommandWriteBase * finishedEventHandler) {
        // check if this command is enabled
        if (!this->IsEnabled()) {
            return mtsExecutionResult::COMMAND_DISABLED;
        }
        // check if there is a mailbox (i.e. if the command is associated to an interface
        if (!MailBox) {
            CMN_LOG_RUN_ERROR << "Class mtsCommandQueuedWrite: Execute: no mailbox for \""
                              << this->Name << "\"" << std::endl;
            return mtsExecutionResult::COMMAND_HAS_NO_MAILBOX;
        }
        // try to cast the input type
        const ArgumentQueueBaseType * argumentTyped = dynamic_cast<const ArgumentQueueBaseType*>(&argument);
        if (!argumentTyped) {
            return mtsExecutionResult::INVALID_INPUT_TYPE;
        }
        // check if all queues have some space
        if (ArgumentsQueue.IsFull() || BlockingFlagQueue.IsFull() || FinishedEventQueue.IsFull() || MailBox->IsFull()) {
            CMN_LOG_RUN_WARNING << "Class mtsCommandQueuedWrite: Execute: Queue full for \""
                                << this->Name << "\" ["
                                << ArgumentsQueue.IsFull() << "|"
                                << BlockingFlagQueue.IsFull() << "|"
                                << FinishedEventQueue.IsFull() << "|"
                                << MailBox->IsFull() << "]"
                                << std::endl;
            return mtsExecutionResult::COMMAND_ARGUMENT_QUEUE_FULL;
        }
        // copy the argument to the local storage.
        if (!ArgumentsQueue.Put(*argumentTyped)) {
            CMN_LOG_RUN_ERROR << "Class mtsCommandQueuedWrite: Execute: ArgumentsQueue full for \""
                              << this->Name << "\"" << std::endl;
            cmnThrow("mtsCommandQueuedWrite: Execute: ArgumentsQueue.Put failed");
            return mtsExecutionResult::UNDEFINED;
        }
        // copy the blocking flag to the local storage.
        if (!BlockingFlagQueue.Put(blocking)) {
            CMN_LOG_RUN_ERROR << "Class mtsCommandQueuedWrite: Execute: BlockingFlagQueue full for \""
                              << this->Name << "\"" << std::endl;
            ArgumentsQueue.Get(); // pop argument
            cmnThrow("mtsCommandQueuedWrite: Execute: BlockingFlagQueue.Put failed");
            return mtsExecutionResult::UNDEFINED;
        }
        // copy the finished event handler to the local storage.
        if (!FinishedEventQueue.Put(finishedEventHandler)) {
            CMN_LOG_RUN_ERROR << "Class mtsCommandQueuedWrite: Execute: FinishedEventQueue.Put failed for \""
                              << this->Name << "\"" << std::endl;
            ArgumentsQueue.Get();       // Remove the argument that was already queued
            BlockingFlagQueue.Get();    // Remove the blocking flag that was already queued
            cmnThrow("mtsCommandQueuedWrite: Execute: FinishedEventQueue.Put failed");
            return mtsExecutionResult::UNDEFINED;
        }
        // finally try to queue to mailbox
        if (!MailBox->Write(this)) {
            CMN_LOG_RUN_ERROR << "Class mtsCommandQueuedWrite: Execute: mailbox full for \""
                              << this->Name << "\"" << std::endl;
            ArgumentsQueue.Get();  // pop argument, blocking flag, and finished event from local storage
            BlockingFlagQueue.Get();
            FinishedEventQueue.Get();
            cmnThrow("mtsCommandQueuedWrite: Execute: MailBox.Write failed");
            return mtsExecutionResult::UNDEFINED;
        }
        return mtsExecutionResult::COMMAND_QUEUED;
    }

    /* commented in base class */
    const mtsGenericObject * GetArgumentPrototype(void) const {
        return this->ActualCommand->GetArgumentPrototype();
    }

    inline virtual const mtsGenericObject * ArgumentPeek(void) const {
        return ArgumentsQueue.Peek();
    }


    inline virtual mtsGenericObject * ArgumentGet(void) {
        return ArgumentsQueue.Get();
    }
};


// PK: methods are defined in mtsCommandQueuedWriteBase.cpp
class CISST_EXPORT mtsCommandQueuedWriteGeneric: public mtsCommandQueuedWriteBase
{
 protected:
    typedef mtsCommandQueuedWriteBase BaseType;
    typedef mtsCommandQueuedWriteGeneric ThisType;

    size_t ArgumentQueueSize; // size used for queue
    mtsQueueGeneric ArgumentsQueue;

private:
    inline mtsCommandQueuedWriteGeneric(void);

    inline mtsCommandQueuedWriteGeneric(const ThisType & CMN_UNUSED(other));

public:
    mtsCommandQueuedWriteGeneric(mtsMailBox * mailBox, mtsCommandWriteBase * actualCommand, size_t size);


    inline virtual ~mtsCommandQueuedWriteGeneric() {}


    virtual void ToStream(std::ostream & outputStream) const;

    inline virtual mtsCommandQueuedWriteGeneric * Clone(mtsMailBox * mailBox, size_t size) const {
        return new mtsCommandQueuedWriteGeneric(mailBox, this->ActualCommand, size);
    }


    // Allocate should be called when a task calls GetMethodXXX().
    virtual void Allocate(size_t size);


    inline virtual void SetArgumentPrototype(const mtsGenericObject * argumentPrototype) {
        this->ActualCommand->SetArgumentPrototype(argumentPrototype);
        this->Allocate(this->ArgumentQueueSize);
    }


    mtsExecutionResult Execute(const mtsGenericObject & argument,
                               mtsBlockingType blocking,
                               mtsCommandWriteBase *finishedEventHandler);


    /* commented in base class */
    const mtsGenericObject * GetArgumentPrototype(void) const {
        return this->ActualCommand->GetArgumentPrototype();
    }


    inline virtual const mtsGenericObject * ArgumentPeek(void) const {
        return ArgumentsQueue.Peek();
    }


    inline virtual mtsGenericObject * ArgumentGet(void) {
        return ArgumentsQueue.Get();
    }
};

#endif // _mtsCommandQueuedWrite_h