openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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// Copyright (C) 2004, 2006 International Business Machines and others.
// All Rights Reserved.
// This code is published under the Eclipse Public License.
//
// $Id: IpObserver.hpp 2161 2013-01-01 20:39:05Z stefan $
//
// Authors: Carl Laird, Andreas Waechter IBM 2004-08-13
#ifndef __IPOBSERVER_HPP__
#define __IPOBSERVER_HPP__
#include "IpUtils.hpp"
#include <vector>
#include <algorithm>
//#define IP_DEBUG_OBSERVER
#if COIN_IPOPT_CHECKLEVEL > 2
# define IP_DEBUG_OBSERVER
#endif
#ifdef IP_DEBUG_OBSERVER
# include "IpDebug.hpp"
#endif
namespace Ipopt
{
/** Forward declarations */
class Subject;
/** Slight Variation of the Observer Design Pattern.
* This class implements the Observer class of the
* Observer Design Pattern. An Observer "Attach"es
* to a Subject, indicating that it would like to
* be notified of changes in the Subject.
* Any derived class wishing to recieve notifications
* from a Subject should inherit off of
* Observer and overload the protected method,
* RecieveNotification_(...).
*/
class Observer
{
public:
#ifdef IP_DEBUG_OBSERVER
static const Index dbg_verbosity;
#endif
/**@name Constructors/Destructors */
//@{
/** Default Constructor */
Observer()
{}
/** Default destructor */
inline
virtual ~Observer();
//@}
/** Enumeration specifying the type of notification */
enum NotifyType
{
NT_All,
NT_BeingDestroyed,
NT_Changed
};
protected:
/** Derived classes should call this method
* to request an "Attach" to a Subject. Do
* not call "Attach" explicitly on the Subject
* since further processing is done here
*/
inline
void RequestAttach(NotifyType notify_type, const Subject* subject);
/** Derived classes should call this method
* to request a "Detach" to a Subject. Do
* not call "Detach" explicitly on the Subject
* since further processing is done here
*/
inline
void RequestDetach(NotifyType notify_type, const Subject* subject);
/** Derived classes should overload this method to
* recieve the requested notification from
* attached Subjects
*/
virtual void RecieveNotification(NotifyType notify_type, const Subject* subject)=0;
private:
/**@name Default Compiler Generated Methods
* (Hidden to avoid implicit creation/calling).
* These methods are not implemented and
* we do not want the compiler to implement
* them for us, so we declare them private
* and do not define them. This ensures that
* they will not be implicitly created/called. */
//@{
/** Copy Constructor */
Observer(const Observer&);
/** Overloaded Equals Operator */
void operator=(const Observer&);
//@}
/** A list of the subjects currently being
* observed. */
std::vector<const Subject*> subjects_;
/** Private Method for Recieving Notification
* should only be called by the friend class
* Subject. This method will, in turn, call
* the overloaded RecieveNotification method
* for the derived class to process.
*/
inline
void ProcessNotification(NotifyType notify_type, const Subject* subject);
friend class Subject;
};
/** Slight Variation of the Observer Design Pattern (Subject part).
* This class implements the Subject class of the Observer Design
* Pattern. An Observer "Attach"es to a Subject, indicating that it
* would like to be notified of changes in the Subject. Any
* derived class that is to be observed has to inherit off the
* Subject base class. If the subject needs to notify the
* Observer, it calls the Notify method.
*/
class Subject
{
public:
#ifdef IP_DEBUG_OBSERVER
static const Index dbg_verbosity;
#endif
/**@name Constructors/Destructors */
//@{
/** Default Constructor */
Subject()
{}
/** Default destructor */
inline
virtual ~Subject();
//@}
/**@name Methods to Add and Remove Observers.
* Currently, the notify_type flags are not used,
* and Observers are attached in general and will
* recieve all notifications (of the type requested
* and possibly of types not requested). It is
* up to the observer to ignore the types they
* are not interested in. The NotifyType in the
* parameter list is so a more efficient mechanism
* depending on type could be implemented later if
* necessary.*/
//@{
/** Attach the specified observer
* (i.e., begin recieving notifications). */
inline
void AttachObserver(Observer::NotifyType notify_type, Observer* observer) const;
/** Detach the specified observer
* (i.e., no longer recieve notifications). */
inline
void DetachObserver(Observer::NotifyType notify_type, Observer* observer) const;
//@}
protected:
inline
void Notify(Observer::NotifyType notify_type) const;
private:
/**@name Default Compiler Generated Methods
* (Hidden to avoid implicit creation/calling).
* These methods are not implemented and
* we do not want the compiler to implement
* them for us, so we declare them private
* and do not define them. This ensures that
* they will not be implicitly created/called. */
//@{
/** Copy Constructor */
Subject(const Subject&);
/** Overloaded Equals Operator */
void operator=(const Subject&);
//@}
mutable std::vector<Observer*> observers_;
};
/* inline methods */
inline
Observer::~Observer()
{
#ifdef IP_DEBUG_OBSERVER
DBG_START_METH("Observer::~Observer", dbg_verbosity);
if (DBG_VERBOSITY()>=1) {
for (Index i=0; i<(Index)subjects_.size(); i++) {
DBG_PRINT((1,"subjects_[%d] = 0x%x\n", i, subjects_[i]));
}
}
#endif
// Detach all subjects
for (Int i=(Int)(subjects_.size()-1); i>=0; i--) {
#ifdef IP_DEBUG_OBSERVER
DBG_PRINT((1,"About to detach subjects_[%d] = 0x%x\n", i, subjects_[i]));
#endif
RequestDetach(NT_All, subjects_[i]);
}
}
inline
void Observer::RequestAttach(NotifyType notify_type, const Subject* subject)
{
#ifdef IP_DEBUG_OBSERVER
DBG_START_METH("Observer::RequestAttach", dbg_verbosity);
// Add the subject to the list if it does not already exist
std::vector<const Subject*>::iterator attached_subject;
attached_subject = std::find(subjects_.begin(), subjects_.end(), subject);
DBG_ASSERT(attached_subject == subjects_.end());
DBG_ASSERT(subject);
#endif
// add the subject to the list
subjects_.push_back(subject);
// Attach the observer to the subject
subject->AttachObserver(notify_type, this);
}
inline
void Observer::RequestDetach(NotifyType notify_type, const Subject* subject)
{
#ifdef IP_DEBUG_OBSERVER
DBG_START_METH("Observer::RequestDetach", dbg_verbosity);
DBG_PRINT((1, "Requesting detach of subject: 0x%x\n", subject));
DBG_ASSERT(subject);
#endif
if (subject) {
std::vector<const Subject*>::iterator attached_subject;
attached_subject = std::find(subjects_.begin(), subjects_.end(), subject);
#ifdef IP_DEBUG_OBSERVER
DBG_ASSERT(attached_subject != subjects_.end());
#endif
if (attached_subject != subjects_.end()) {
#ifdef IP_DEBUG_OBSERVER
DBG_PRINT((1, "Removing subject: 0x%x from the list\n", subject));
#endif
subjects_.erase(attached_subject);
}
// Detach the observer from the subject
subject->DetachObserver(notify_type, this);
}
}
inline
void Observer::ProcessNotification(NotifyType notify_type, const Subject* subject)
{
#ifdef IP_DEBUG_OBSERVER
DBG_START_METH("Observer::ProcessNotification", dbg_verbosity);
DBG_ASSERT(subject);
#endif
if (subject) {
std::vector<const Subject*>::iterator attached_subject;
attached_subject = std::find(subjects_.begin(), subjects_.end(), subject);
// We must be processing a notification for a
// subject that was previously attached.
#ifdef IP_DEBUG_OBSERVER
DBG_ASSERT(attached_subject != subjects_.end());
#endif
this->RecieveNotification(notify_type, subject);
if (notify_type == NT_BeingDestroyed) {
// the subject is going away, remove it from our list
subjects_.erase(attached_subject);
}
}
}
inline
Subject::~Subject()
{
#ifdef IP_DEBUG_OBSERVER
DBG_START_METH("Subject::~Subject", dbg_verbosity);
#endif
std::vector<Observer*>::iterator iter;
for (iter = observers_.begin(); iter != observers_.end(); iter++) {
(*iter)->ProcessNotification(Observer::NT_BeingDestroyed, this);
}
}
inline
void Subject::AttachObserver(Observer::NotifyType notify_type, Observer* observer) const
{
#ifdef IP_DEBUG_OBSERVER
DBG_START_METH("Subject::AttachObserver", dbg_verbosity);
// current implementation notifies all observers of everything
// they must filter the notifications that they are not interested
// in (i.e. a hub, not a router)
DBG_ASSERT(observer);
std::vector<Observer*>::iterator attached_observer;
attached_observer = std::find(observers_.begin(), observers_.end(), observer);
DBG_ASSERT(attached_observer == observers_.end());
DBG_ASSERT(observer);
#endif
observers_.push_back(observer);
}
inline
void Subject::DetachObserver(Observer::NotifyType notify_type, Observer* observer) const
{
#ifdef IP_DEBUG_OBSERVER
DBG_START_METH("Subject::DetachObserver", dbg_verbosity);
DBG_ASSERT(observer);
#endif
if (observer) {
std::vector<Observer*>::iterator attached_observer;
attached_observer = std::find(observers_.begin(), observers_.end(), observer);
#ifdef IP_DEBUG_OBSERVER
DBG_ASSERT(attached_observer != observers_.end());
#endif
if (attached_observer != observers_.end()) {
observers_.erase(attached_observer);
}
}
}
inline
void Subject::Notify(Observer::NotifyType notify_type) const
{
#ifdef IP_DEBUG_OBSERVER
DBG_START_METH("Subject::Notify", dbg_verbosity);
#endif
std::vector<Observer*>::iterator iter;
for (iter = observers_.begin(); iter != observers_.end(); iter++) {
(*iter)->ProcessNotification(notify_type, this);
}
}
} // namespace Ipopt
#endif