ManagerImpl.H

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/*! @file
    @author Laurent Itti
    @copyright GNU Public License (GPL v3)
    @section License
    @verbatim
    // ////////////////////////////////////////////////////////////////////////
    //              The iLab Neuromorphic Robotics Toolkit (NRT)             //
    // Copyright 2010-2012 by the University of Southern California (USC)    //
    //                          and the iLab at USC.                         //
    //                                                                       //
    //                iLab - University of Southern California               //
    //                Hedco Neurociences Building, Room HNB-10               //
    //                    Los Angeles, Ca 90089-2520 - USA                   //
    //                                                                       //
    //      See http://ilab.usc.edu for information about this project.      //
    // ////////////////////////////////////////////////////////////////////////
    // This file is part of The iLab Neuromorphic Robotics Toolkit.          //
    //                                                                       //
    // The iLab Neuromorphic Robotics Toolkit 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 (at your option) any later version.      //
    //                                                                       //
    // The iLab Neuromorphic Robotics Toolkit 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 The iLab Neuromorphic Robotics Toolkit.  If not, see       //
    // <http://www.gnu.org/licenses/>.                                       //
    // ////////////////////////////////////////////////////////////////////////
    @endverbatim */

#ifndef INCLUDE_NRT_CORE_MODEL_DETAILS_MANAGERIMPL_H
#define INCLUDE_NRT_CORE_MODEL_DETAILS_MANAGERIMPL_H

#include <nrt/Core/Debugging/Log.H>

// ######################################################################
template <class Comp> inline
std::shared_ptr<Comp> nrt::Manager::addComponent(std::string const & instanceName)
{
  // Keep this code in sync with module version

  // Enforce that Comp derives from Component, but not from Module:
  static_assert(std::is_base_of<nrt::Component, Comp>::value, "Comp must derive from nrt::Component");
  static_assert( ! std::is_base_of<nrt::ModuleBase, Comp>::value, "Use nrt::Blackboard::addModule() for top-level "
                 "objects that derive from nrt::Module");

  // First, create the sub and put it into a shared_ptr:
  std::shared_ptr<Comp> subComp(new Comp(computeInstanceName(instanceName)));

  // Then add it as a sub-component to us:
  {
    boost::upgrade_lock<boost::shared_mutex> uplck(itsSubMtx);

    std::string const inst = subComp->meta().instanceName;

    for (std::shared_ptr<nrt::Component> const & c : itsSubComponents)
      if (inst == c->meta().instanceName)
        NRT_FATAL("Cannot add two components with identical instanceNames [" << inst << ']');

    NRT_MODDEBUG("Adding Component [" << subComp->meta().str() << ']');

    {
      boost::upgrade_to_unique_lock<boost::shared_mutex> ulck(uplck);
      itsSubComponents.push_back(subComp);
      subComp->itsParent = this;
    }
  }

  // Finally bring it to our runstate:
  if (itsInitialized) subComp->init();
  if (itsStarted) subComp->start();
  if (itsRunning) subComp->launch();

  return subComp;
}

// ######################################################################
template <class Comp> inline
std::shared_ptr<Comp> nrt::Manager::getComponent(std::string const & instanceName) const
{
  // Keep this code in sync with module version

  // Enforce that Comp derives from Component, but not from Module:
  static_assert(std::is_base_of<nrt::Component, Comp>::value, "Comp must derive from nrt::Component");
  static_assert( ! std::is_base_of<nrt::ModuleBase, Comp>::value, "Use nrt::Blackboard::getModule() for top-level "
                 "objects that derive from nrt::Module");

  boost::shared_lock<boost::shared_mutex> lck(itsSubMtx);

  for (std::shared_ptr<nrt::Component> c : itsSubComponents)
    if (instanceName == c->meta().instanceName)
    {
      std::shared_ptr<Comp> ret = std::dynamic_pointer_cast<Comp>(c);
      if (ret) return ret; // correct type
      NRT_FATAL("SubComponent [" << instanceName << "] is not of type [" << nrt::demangledName<Comp>() << ']');
    }

  NRT_FATAL("SubComponent [" << instanceName << "] not found");
}

// ######################################################################
// Specialization for nrt::Component return: no need to cast
namespace nrt
{
  template <> inline
  std::shared_ptr<Component> Manager::getComponent<Component>(std::string const & instanceName) const
  {
    boost::shared_lock<boost::shared_mutex> lck(itsSubMtx);

    for (std::shared_ptr<Component> c : itsSubComponents) if (instanceName == c->meta().instanceName) return c;

    NRT_FATAL("Component [" << instanceName << "] not found");
  }
}

// ######################################################################
template <class Comp>
void nrt::Manager::removeComponent(std::shared_ptr<Comp> & component)
{
  // Keep this code in sync with module version

  static_assert(std::is_base_of<nrt::Component, Comp>::value, "Comp must derive from nrt::Component");
  ///FIXME static_assert( ! std::is_base_of<nrt::ModuleBase, Mod>::value, "Use nrt::Blackboard::removeModule() for objects "
  //             "that derive from nrt::Module");

  boost::upgrade_lock<boost::shared_mutex> uplck(itsSubMtx);

  for (auto itr = itsSubComponents.begin(); itr != itsSubComponents.end(); ++itr)
    if (itr->get() == component.get())
    {
      NRT_MODDEBUG("Removing Component [" << component->meta().str() << ']');

      boost::upgrade_to_unique_lock<boost::shared_mutex> ulck(uplck);
      component->prepareForDeletion();
      itsSubComponents.erase(itr);

      if (component.use_count() > 1)
        NRT_WARNING(component.use_count() - 1 << " additional external shared_ptr references exist to "
                    "Component [" << component->meta().str() << "]. Component was NOT deleted.");
      component.reset(); // nuke the shared_ptr, this should yield a delete unless use_count was > 1
      return;
    }

  NRT_WARNING("Component [" << component->meta().str() << "] not found. Ignored.");
}

#endif // INCLUDE_NRT_CORE_MODEL_DETAILS_MANAGERIMPL_H