Observer.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_observers/api.h>
#include <mc_rtc/gui/StateBuilder.h>
#include <mc_rtc/log/Logger.h>
 
namespace mc_rtc
{
namespace gui
{
struct StateBuilder;
} // namespace gui
} // namespace mc_rtc
 
namespace mc_control
{
struct MCController;
} // namespace mc_control
 
namespace mc_rbdyn
{
 
struct Robots;
}
 
namespace mc_observers
{
 
struct MC_OBSERVERS_DLLAPI Observer
{
  Observer(const std::string & type, double dt) : type_(type), dt_(dt) {}
  virtual ~Observer() = default;
 
  virtual void configure(const mc_control::MCController & /*ctl*/, const mc_rtc::Configuration & /*config*/) {}
 
  virtual void reset(const mc_control::MCController & ctl) = 0;
 
  virtual bool run(const mc_control::MCController & ctl) = 0;
 
  virtual void update(mc_control::MCController & ctl) = 0;
 
  inline void name(const std::string & name) { name_ = name; }
 
  inline const std::string & name() const noexcept { return name_; }
 
  void addToLogger_(const mc_control::MCController & ctl, mc_rtc::Logger & logger, const std::string & category = "")
  { addToLogger(ctl, logger, category + "_" + name_); }
 
  void removeFromLogger_(mc_rtc::Logger & logger, const std::string & category = "")
  { removeFromLogger(logger, category + "_" + name_); }
 
  void addToGUI_(const mc_control::MCController & ctl,
                 mc_rtc::gui::StateBuilder & gui,
                 std::vector<std::string> category = {})
  {
    category.push_back(name_);
    addToGUI(ctl, gui, category);
  }
 
  void removeFromGUI_(mc_rtc::gui::StateBuilder & gui, std::vector<std::string> category = {})
  {
    category.push_back(name_);
    removeFromGUI(gui, category);
  };
 
  inline const std::string & desc() const noexcept { return desc_; }
 
  inline const std::string type() const noexcept { return type_; }
 
  inline const std::string & error() const noexcept { return error_; }
 
  inline double dt() const noexcept { return dt_; }
 
protected:
  virtual void addToLogger(const mc_control::MCController &, mc_rtc::Logger &, const std::string & /* category */) {}
 
  virtual void removeFromLogger(mc_rtc::Logger &, const std::string & /* category */);
 
  virtual void addToGUI(const mc_control::MCController &,
                        mc_rtc::gui::StateBuilder &,
                        const std::vector<std::string> & /* category */)
  {
  }
 
  virtual void removeFromGUI(mc_rtc::gui::StateBuilder &, const std::vector<std::string> & category);
 
protected:
  std::string name_; 
  std::string type_; 
  std::string desc_; 
  std::string error_; 
 
  double dt_; 
};
 
using ObserverPtr = std::shared_ptr<mc_observers::Observer>;
 
} // namespace mc_observers
 
#ifdef WIN32
#  define OBSERVER_MODULE_API __declspec(dllexport)
#else
#  if __GNUC__ >= 4
#    define OBSERVER_MODULE_API __attribute__((visibility("default")))
#  else
#    define OBSERVER_MODULE_API
#  endif
#endif