/usr/include/simgear/structure/subsystem_mgr.hxx is in libsimgear-dev 3.0.0-1.
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//
// Copyright (C) 2000 David Megginson, david@megginson.com
//
// This program 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 2 of the
// License, or (at your option) any later version.
//
// This program 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 this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
#ifndef __SUBSYSTEM_MGR_HXX
#define __SUBSYSTEM_MGR_HXX 1
#include <simgear/compiler.h>
#include <string>
#include <map>
#include <vector>
#include <simgear/timing/timestamp.hxx>
#include <simgear/structure/SGSharedPtr.hxx>
#include <simgear/misc/strutils.hxx>
class TimingInfo
{
private:
std::string eventName;
SGTimeStamp time;
public:
TimingInfo(const std::string& name, const SGTimeStamp &t) :
eventName(name), time(t)
{ }
const std::string& getName() const { return eventName; }
const SGTimeStamp& getTime() const { return time; }
};
class SampleStatistic;
typedef std::vector<TimingInfo> eventTimeVec;
typedef std::vector<TimingInfo>::iterator eventTimeVecIterator;
typedef void (*SGSubsystemTimingCb)(void* userData, const std::string& name, SampleStatistic* pStatistic);
/**
* Basic interface for all FlightGear subsystems.
*
* <p>This is an abstract interface that all FlightGear subsystems
* will eventually implement. It defines the basic operations for
* each subsystem: initialization, property binding and unbinding, and
* updating. Interfaces may define additional methods, but the
* preferred way of exchanging information with other subsystems is
* through the property tree.</p>
*
* <p>To publish information through a property, a subsystem should
* bind it to a variable or (if necessary) a getter/setter pair in the
* bind() method, and release the property in the unbind() method:</p>
*
* <pre>
* void MySubsystem::bind ()
* {
* fgTie("/controls/flight/elevator", &_elevator);
* fgSetArchivable("/controls/flight/elevator");
* }
*
* void MySubsystem::unbind ()
* {
* fgUntie("/controls/flight/elevator");
* }
* </pre>
*
* <p>To reference a property (possibly) from another subsystem, there
* are two alternatives. If the property will be referenced only
* infrequently (say, in the init() method), then the fgGet* methods
* declared in fg_props.hxx are the simplest:</p>
*
* <pre>
* void MySubsystem::init ()
* {
* _errorMargin = fgGetFloat("/display/error-margin-pct");
* }
* </pre>
*
* <p>On the other hand, if the property will be referenced frequently
* (say, in the update() method), then the hash-table lookup required
* by the fgGet* methods might be too expensive; instead, the
* subsystem should obtain a reference to the actual property node in
* its init() function and use that reference in the main loop:</p>
*
* <pre>
* void MySubsystem::init ()
* {
* _errorNode = fgGetNode("/display/error-margin-pct", true);
* }
*
* void MySubsystem::update (double delta_time_sec)
* {
* do_something(_errorNode.getFloatValue());
* }
* </pre>
*
* <p>The node returned will always be a pointer to SGPropertyNode,
* and the subsystem should <em>not</em> delete it in its destructor
* (the pointer belongs to the property tree, not the subsystem).</p>
*
* <p>The program may ask the subsystem to suspend or resume
* sim-time-dependent operations; by default, the suspend() and
* resume() methods set the protected variable <var>_suspended</var>,
* which the subsystem can reference in its update() method, but
* subsystems may also override the suspend() and resume() methods to
* take different actions.</p>
*/
class SGSubsystem : public SGReferenced
{
public:
/**
* Default constructor.
*/
SGSubsystem ();
/**
* Virtual destructor to ensure that subclass destructors are called.
*/
virtual ~SGSubsystem ();
/**
* Initialize the subsystem.
*
* <p>This method should set up the state of the subsystem, but
* should not bind any properties. Note that any dependencies on
* the state of other subsystems should be placed here rather than
* in the constructor, so that FlightGear can control the
* initialization order.</p>
*/
virtual void init ();
typedef enum
{
INIT_DONE, ///< subsystem is fully initialised
INIT_CONTINUE ///< init should be called again
} InitStatus;
virtual InitStatus incrementalInit ();
/**
* Initialize parts that depend on other subsystems having been initialized.
*
* <p>This method should set up all parts that depend on other
* subsystems. One example is the scripting/Nasal subsystem, which
* is initialized last. So, if a subsystem wants to execute Nasal
* code in subsystem-specific configuration files, it has to do that
* in its postinit() method.</p>
*/
virtual void postinit ();
/**
* Reinitialize the subsystem.
*
* <p>This method should cause the subsystem to reinitialize itself,
* and (normally) to reload any configuration files.</p>
*/
virtual void reinit ();
/**
* Shutdown the subsystem.
*
* <p>Release any state associated with subsystem. Shutdown happens in
* the reverse order to init(), so this is the correct place to do
* shutdown that depends on other subsystems.
* </p>
*/
virtual void shutdown ();
/**
* Acquire the subsystem's property bindings.
*
* <p>This method should bind all properties that the subsystem
* publishes. It will be invoked after init, but before any
* invocations of update.</p>
*/
virtual void bind ();
/**
* Release the subsystem's property bindings.
*
* <p>This method should release all properties that the subsystem
* publishes. It will be invoked by FlightGear (not the destructor)
* just before the subsystem is removed.</p>
*/
virtual void unbind ();
/**
* Update the subsystem.
*
* <p>FlightGear invokes this method every time the subsystem should
* update its state.</p>
*
* @param delta_time_sec The delta time, in seconds, since the last
* update. On first update, delta time will be 0.
*/
virtual void update (double delta_time_sec) = 0;
/**
* Suspend operation of this subsystem.
*
* <p>This method instructs the subsystem to suspend
* sim-time-dependent operations until asked to resume. The update
* method will still be invoked so that the subsystem can take any
* non-time-dependent actions, such as updating the display.</p>
*
* <p>It is not an error for the suspend method to be invoked when
* the subsystem is already suspended; the invocation should simply
* be ignored.</p>
*/
virtual void suspend ();
/**
* Suspend or resume operation of this subsystem.
*
* @param suspended true if the subsystem should be suspended, false
* otherwise.
*/
virtual void suspend (bool suspended);
/**
* Resume operation of this subsystem.
*
* <p>This method instructs the subsystem to resume
* sim-time-depended operations. It is not an error for the resume
* method to be invoked when the subsystem is not suspended; the
* invocation should simply be ignored.</p>
*/
virtual void resume ();
/**
* Test whether this subsystem is suspended.
*
* @return true if the subsystem is suspended, false if it is not.
*/
virtual bool is_suspended () const;
/**
* Trigger the callback to report timing information for all subsystems.
*/
void reportTiming(void);
/**
* Place time stamps at strategic points in the execution of subsystems
* update() member functions. Predominantly for debugging purposes.
*/
void stamp(const std::string& name);
protected:
bool _suspended;
eventTimeVec timingInfo;
static SGSubsystemTimingCb reportTimingCb;
static void* reportTimingUserData;
};
typedef SGSharedPtr<SGSubsystem> SGSubsystemRef;
/**
* A group of FlightGear subsystems.
*/
class SGSubsystemGroup : public SGSubsystem
{
public:
SGSubsystemGroup ();
virtual ~SGSubsystemGroup ();
virtual void init();
virtual InitStatus incrementalInit ();
virtual void postinit ();
virtual void reinit ();
virtual void shutdown ();
virtual void bind ();
virtual void unbind ();
virtual void update (double delta_time_sec);
virtual void suspend ();
virtual void resume ();
virtual bool is_suspended () const;
virtual void set_subsystem (const std::string &name,
SGSubsystem * subsystem,
double min_step_sec = 0);
virtual SGSubsystem * get_subsystem (const std::string &name);
virtual void remove_subsystem (const std::string &name);
virtual bool has_subsystem (const std::string &name) const;
void reportTiming(void);
/**
*
*/
void set_fixed_update_time(double fixed_dt);
/**
* retrive list of member subsystem names
*/
string_list member_names() const;
private:
class Member;
Member* get_member (const std::string &name, bool create = false);
typedef std::vector<Member *> MemberVec;
MemberVec _members;
double _fixedUpdateTime;
double _updateTimeRemainder;
/// index of the member we are currently init-ing
unsigned int _initPosition;
};
/**
* Manage subsystems for FlightGear.
*
* This top-level subsystem will eventually manage all of the
* subsystems in FlightGear: it broadcasts its life-cycle events
* (init, bind, etc.) to all of the subsystems it manages. Subsystems
* are grouped to guarantee order of initialization and execution --
* currently, the only two groups are INIT and GENERAL, but others
* will appear in the future.
*
* All subsystems are named as well as grouped, and subsystems can be
* looked up by name and cast to the appropriate subtype when another
* subsystem needs to invoke specialized methods.
*
* The subsystem manager owns the pointers to all the subsystems in
* it.
*/
class SGSubsystemMgr : public SGSubsystem
{
public:
/**
* Types of subsystem groups.
*/
enum GroupType {
INIT = 0,
GENERAL,
FDM, ///< flight model, autopilot, instruments that run coupled
POST_FDM, ///< certain subsystems depend on FDM data
DISPLAY, ///< view, camera, rendering updates
SOUND/*I want to be last!*/, ///< needs to run AFTER display, to allow concurrent GPU/sound processing
MAX_GROUPS
};
SGSubsystemMgr ();
virtual ~SGSubsystemMgr ();
virtual void init ();
virtual InitStatus incrementalInit ();
virtual void postinit ();
virtual void reinit ();
virtual void shutdown ();
virtual void bind ();
virtual void unbind ();
virtual void update (double delta_time_sec);
virtual void suspend ();
virtual void resume ();
virtual bool is_suspended () const;
virtual void add (const char * name,
SGSubsystem * subsystem,
GroupType group = GENERAL,
double min_time_sec = 0);
/**
* remove a subsystem, and return a pointer to it.
* returns NULL if the subsystem was not found.
*/
virtual void remove(const char* name);
virtual SGSubsystemGroup * get_group (GroupType group);
virtual SGSubsystem* get_subsystem(const std::string &name) const;
void reportTiming();
void setReportTimingCb(void* userData,SGSubsystemTimingCb cb) {reportTimingCb = cb;reportTimingUserData = userData;}
private:
SGSubsystemGroup* _groups[MAX_GROUPS];
unsigned int _initPosition;
// non-owning reference
typedef std::map<std::string, SGSubsystem*> SubsystemDict;
SubsystemDict _subsystem_map;
};
#endif // __SUBSYSTEM_MGR_HXX
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