blackboard.hpp

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// Copyright (C) 2023 Miguel Ángel González Santamarta
//
// 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 3 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, see <https://www.gnu.org/licenses/>.
 
#ifndef YASMIN__BLACKBOARD__BLACKBOARD_HPP
#define YASMIN__BLACKBOARD__BLACKBOARD_HPP
 
#include <exception>
#include <map>
#include <mutex>
#include <stdexcept>
#include <string>
 
#include "yasmin/blackboard/blackboard_value.hpp"
#include "yasmin/blackboard/blackboard_value_interface.hpp"
#include "yasmin/logs.hpp"
 
namespace yasmin {
namespace blackboard {

class Blackboard {
private:
  std::recursive_mutex mutex;
  std::map<std::string, BlackboardValueInterface *> values;
  std::map<std::string, std::string> type_registry;
  std::map<std::string, std::string> remappings;

  const std::string &remap(const std::string &key);
 
public:
  Blackboard();

  Blackboard(const Blackboard &other);

  virtual ~Blackboard();

  template <class T> void set(const std::string &name, T value) {
 
    YASMIN_LOG_DEBUG("Setting '%s' in the blackboard", name.c_str());
 
    std::lock_guard<std::recursive_mutex> lk(this->mutex);
 
    BlackboardValue<T> *b_value = new BlackboardValue<T>(value);
 
    // Apply remapping if exists
    std::string key = this->remap(name);
 
    // If the type is changing, remove the old entry first
    if (this->type_registry.find(key) != this->type_registry.end()) {
      this->values.erase(key);
      this->type_registry.erase(key);
    }
 
    // Insert or update the value
    if (!this->contains(key)) {
      this->values.insert({key, b_value});
      this->type_registry.insert({key, b_value->get_type()});
 
    } else {
      b_value = (BlackboardValue<T> *)this->values.at(key);
      b_value->set(value);
      this->type_registry[key] = b_value->get_type();
    }
  }

  template <class T> T get(const std::string &key) {
 
    YASMIN_LOG_DEBUG("Getting '%s' from the blackboard", key.c_str());
 
    std::lock_guard<std::recursive_mutex> lk(this->mutex);
 
    if (!this->contains(key)) {
      throw std::runtime_error("Element '" + key +
                               "' does not exist in the blackboard");
    }
 
    BlackboardValue<T> *b_value =
        (BlackboardValue<T> *)this->values.at(this->remap(key));
    return b_value->get();
  }

  void remove(const std::string &key);

  bool contains(const std::string &key);

  int size();

  std::string get_type(const std::string &key);

  std::string to_string();

  void set_remappings(const std::map<std::string, std::string> &remappings);

  const std::map<std::string, std::string> &get_remappings();
};
 
} // namespace blackboard
} // namespace yasmin
 
#endif // YASMIN__BLACKBOARD_HPP