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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pro-methods" > Protected Member Functions</ a > |
< a href = "#friends" > Friends</ a > |
< a href = "classUEventsHandler-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > UEventsHandler Class Reference< span class = "mlabels" >< span class = "mlabel" > abstract</ span ></ span ></ div ></ div >
</ div > <!--header-->
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< p >< code > #include < < a class = "el" href = "UEventsHandler_8h_source.html" > UEventsHandler.h</ a > > </ code ></ p >
< div class = "dynheader" >
Inheritance diagram for UEventsHandler:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classUEventsHandler__inherit__graph.png" border = "0" usemap = "#aUEventsHandler_inherit__map" alt = "Inheritance graph" /></ div >
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< div class = "dynheader" >
Collaboration diagram for UEventsHandler:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classUEventsHandler__coll__graph.png" border = "0" usemap = "#aUEventsHandler_coll__map" alt = "Collaboration graph" /></ div >
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< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a425f7af2882c980044a310e68ab13877" id = "r_a425f7af2882c980044a310e68ab13877" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a425f7af2882c980044a310e68ab13877" name = "a425f7af2882c980044a310e68ab13877" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > registerToEventsManager</ b > ()</ td ></ tr >
< tr class = "separator:a425f7af2882c980044a310e68ab13877" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa83926b16066f18dcae9d55997fa11ba" id = "r_aa83926b16066f18dcae9d55997fa11ba" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aa83926b16066f18dcae9d55997fa11ba" name = "aa83926b16066f18dcae9d55997fa11ba" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > unregisterFromEventsManager</ b > ()</ td ></ tr >
< tr class = "separator:aa83926b16066f18dcae9d55997fa11ba" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pro-methods" name = "pro-methods" ></ a >
Protected Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a0d43b582c19f01196a513f66d3618d8d" id = "r_a0d43b582c19f01196a513f66d3618d8d" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUEventsHandler.html#a0d43b582c19f01196a513f66d3618d8d" > handleEvent</ a > (< a class = "el" href = "classUEvent.html" > UEvent</ a > *event)=0</ td ></ tr >
< tr class = "separator:a0d43b582c19f01196a513f66d3618d8d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abfe2ba3d1fb92e59aff1978cbc21d134" id = "r_abfe2ba3d1fb92e59aff1978cbc21d134" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUEventsHandler.html#abfe2ba3d1fb92e59aff1978cbc21d134" > UEventsHandler</ a > ()</ td ></ tr >
< tr class = "separator:abfe2ba3d1fb92e59aff1978cbc21d134" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a15ac2bf243e938c411fac0dff7db2f51" id = "r_a15ac2bf243e938c411fac0dff7db2f51" >< td class = "memItemLeft" align = "right" valign = "top" > virtual  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUEventsHandler.html#a15ac2bf243e938c411fac0dff7db2f51" > ~UEventsHandler</ a > ()</ td ></ tr >
< tr class = "separator:a15ac2bf243e938c411fac0dff7db2f51" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_methods_classUEventsSender" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_methods_classUEventsSender')" >< img src = "closed.png" alt = "-" />   Protected Member Functions inherited from < a class = "el" href = "classUEventsSender.html" > UEventsSender</ a ></ td ></ tr >
< tr class = "memitem:ab03886c42164f2f9bf89fd3da641526f inherit pro_methods_classUEventsSender" id = "r_ab03886c42164f2f9bf89fd3da641526f" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUEventsSender.html#ab03886c42164f2f9bf89fd3da641526f" > post</ a > (< a class = "el" href = "classUEvent.html" > UEvent</ a > *event, bool async=true) const</ td ></ tr >
< tr class = "separator:ab03886c42164f2f9bf89fd3da641526f inherit pro_methods_classUEventsSender" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "friends" name = "friends" ></ a >
Friends</ h2 ></ td ></ tr >
< tr class = "memitem:a977152b27d4c918d79a2db23ed85bfa6" id = "r_a977152b27d4c918d79a2db23ed85bfa6" >< td class = "memItemLeft" align = "right" valign = "top" > class  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUEventsHandler.html#a977152b27d4c918d79a2db23ed85bfa6" > UEventsManager</ a ></ td ></ tr >
< tr class = "separator:a977152b27d4c918d79a2db23ed85bfa6" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > The class < a class = "el" href = "classUEventsHandler.html" > UEventsHandler</ a > is an abstract class for handling events.</ p >
< p > Inherited classes must implement < a class = "el" href = "classUEventsHandler.html#a0d43b582c19f01196a513f66d3618d8d" > handleEvent()</ a > function, which is called by the < a class = "el" href = "classUEventsManager.html" > UEventsManager</ a > when an event is dispatched. Once the handler is created, it must be added to events manager with < a class = "el" href = "classUEventsManager.html#a3bb033062e4a0eb59efdf5f84d170388" > UEventsManager::addHandler()</ a > function. Note that it is not safe to automatically add the handler to < a class = "el" href = "classUEventsManager.html" > UEventsManager</ a > in the handler's constructor.</ p >
< p > Note for multi-threading: the < a class = "el" href = "classUEventsHandler.html#a0d43b582c19f01196a513f66d3618d8d" > handleEvent()</ a > method is called inside the < a class = "el" href = "classUEventsManager.html" > UEventsManager</ a > thread. If the inherited class also inherits from UThreadNode, < a class = "el" href = "classUEventsHandler.html#a0d43b582c19f01196a513f66d3618d8d" > handleEvent()</ a > is done as well outside the thread's main loop, so be careful to protect private data of the thread used in its main loop.</ p >
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< p > Example for a useful combination of an < a class = "el" href = "classUEventsHandler.html" > UEventsHandler</ a > and a UThreadNode, with safe data modification while not blocking the < a class = "el" href = "classUEventsHandler.html#a0d43b582c19f01196a513f66d3618d8d" > handleEvent()</ a > call on a mutex: </ p >< div class = "fragment" >< div class = "line" >< span class = "preprocessor" > #include " < a class = "code" href = "UThreadNode_8h.html" > utilite/UThreadNode.h</ a > " </ span ></ div >
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< div class = "line" >< span class = "preprocessor" > #include " utilite/UEventsHandler.h" </ span ></ div >
< div class = "line" >< span class = "preprocessor" > #include " utilite/UEventsManager.h" </ span ></ div >
< div class = "line" >< span class = "preprocessor" > #include " utilite/UEvent.h" </ span ></ div >
< div class = "line" > </ div >
< div class = "line" >< span class = "comment" > // Implement a simple event</ span ></ div >
< div class = "line" >< span class = "keyword" > class </ span > ResetEvent : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classUEvent.html" > UEvent</ a > {</ div >
< div class = "line" >< span class = "keyword" > public</ span > :</ div >
< div class = "line" > ResetEvent() {}</ div >
< div class = "line" > < span class = "keyword" > virtual</ span > ~ResetEvent() {}</ div >
< div class = "line" > < span class = "keyword" > virtual</ span > std::string getClassName()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > < span class = "stringliteral" > " ResetEvent" </ span > ;} < span class = "comment" > // Must be implemented</ span ></ div >
< div class = "line" > };</ div >
< div class = "line" > </ div >
< div class = "line" >< span class = "comment" > // There is the thread counting indefinitely, the count can be reseted by sending a ResetEvent.</ span ></ div >
< div class = "line" >< span class = "keyword" > class </ span > CounterThread : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classUThread.html" > UThreadNode</ a > , < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classUEventsHandler.html" > UEventsHandler</ a > {</ div >
< div class = "line" >< span class = "keyword" > public</ span > :</ div >
< div class = "line" > CounterThread() : state_(0), count_(0) {}</ div >
< div class = "line" > < span class = "keyword" > virtual</ span > ~CounterThread() {this-> join(< span class = "keyword" > true</ span > );}</ div >
< div class = "line" > </ div >
< div class = "line" >< span class = "keyword" > protected</ span > :</ div >
< div class = "line" > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > mainLoop() {</ div >
< div class = "line" > < span class = "keywordflow" > if</ span > (state_ == 1) {</ div >
< div class = "line" > state_ = 0;</ div >
< div class = "line" > < span class = "comment" > // Do a long initialization, reset memory or other special long works... here</ span ></ div >
< div class = "line" > < span class = "comment" > // we reset the count. This could be done in the handleEvent() but</ span ></ div >
< div class = "line" > < span class = "comment" > // with many objects, it is more safe to do it here (in the thread' s loop). A safe</ span ></ div >
< div class = "line" > < span class = "comment" > // way could be also to use a UMutex to protect this initialization in</ span ></ div >
< div class = "line" > < span class = "comment" > // the handleEvent(), but it is not recommended to do long works in handleEvent()</ span ></ div >
< div class = "line" > < span class = "comment" > // because this will add latency in the UEventsManager dispatching events loop.</ span ></ div >
< div class = "line" > count_ = 0; < span class = "comment" > // Reset the count</ span ></ div >
< div class = "line" > printf(< span class = "stringliteral" > " Reset!\n" </ span > );</ div >
< div class = "line" > }</ div >
< div class = "line" > </ div >
< div class = "line" > < span class = "comment" > // Do some works...</ span ></ div >
< div class = "line" > printf(< span class = "stringliteral" > " count=%d\n" </ span > , count_++);</ div >
< div class = "line" > uSleep(100); < span class = "comment" > // wait 100 ms</ span ></ div >
< div class = "line" > }</ div >
< div class = "line" > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > handleEvent(< a class = "code hl_class" href = "classUEvent.html" > UEvent</ a > * event) {</ div >
< div class = "line" > < span class = "keywordflow" > if</ span > (event-> < a class = "code hl_function" href = "classUEvent.html#a2c7d278240ad4b7d88a2c534cc5f47b4" > getClassName</ a > ().compare(< span class = "stringliteral" > " ResetEvent" </ span > ) == 0) {</ div >
< div class = "line" > state_ = 1;</ div >
< div class = "line" > }</ div >
< div class = "line" > }</ div >
< div class = "line" >< span class = "keyword" > private</ span > :</ div >
< div class = "line" > < span class = "keywordtype" > int</ span > state_;</ div >
< div class = "line" > < span class = "keywordtype" > int</ span > count_;</ div >
< div class = "line" > };</ div >
< div class = "line" > </ div >
< div class = "line" >< span class = "keywordtype" > int</ span > main(< span class = "keywordtype" > int</ span > argc, < span class = "keywordtype" > char</ span > * argv[])</ div >
< div class = "line" > {</ div >
< div class = "line" > CounterThread counter;</ div >
< div class = "line" > counter.start();</ div >
< div class = "line" > < a class = "code hl_function" href = "classUEventsManager.html#a3bb033062e4a0eb59efdf5f84d170388" > UEventsManager::addHandler</ a > (& counter);</ div >
< div class = "line" > </ div >
< div class = "line" > uSleep(500); < span class = "comment" > // wait 500 ms before sending a reset event</ span ></ div >
< div class = "line" > < a class = "code hl_function" href = "classUEventsManager.html#a956353a8006abe2edb0be2e1fc1846cb" > UEventsManager::post</ a > (< span class = "keyword" > new</ span > ResetEvent());</ div >
< div class = "line" > uSleep(500); < span class = "comment" > // wait 500 ms before termination</ span ></ div >
< div class = "line" > </ div >
< div class = "line" > < a class = "code hl_function" href = "classUEventsManager.html#a10d4b359f630aa9387e77f8baefcc07c" > UEventsManager::removeHandler</ a > (& counter);</ div >
< div class = "line" > counter.join(< span class = "keyword" > true</ span > ); < span class = "comment" > // Kill and wait to finish</ span ></ div >
< div class = "line" > < span class = "keywordflow" > return</ span > 0;</ div >
< div class = "line" > }</ div >
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< div class = "ttc" id = "aUThreadNode_8h_html" >< div class = "ttname" >< a href = "UThreadNode_8h.html" > UThreadNode.h</ a ></ div >< div class = "ttdoc" > Backward-compatible alias header for UThread.</ div ></ div >
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< div class = "ttc" id = "aclassUEvent_html" >< div class = "ttname" >< a href = "classUEvent.html" > UEvent</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "UEvent_8h_source.html#l00057" > UEvent.h:57</ a ></ div ></ div >
< div class = "ttc" id = "aclassUEvent_html_a2c7d278240ad4b7d88a2c534cc5f47b4" >< div class = "ttname" >< a href = "classUEvent.html#a2c7d278240ad4b7d88a2c534cc5f47b4" > UEvent::getClassName</ a ></ div >< div class = "ttdeci" > virtual std::string getClassName() const =0</ div ></ div >
< div class = "ttc" id = "aclassUEventsHandler_html" >< div class = "ttname" >< a href = "classUEventsHandler.html" > UEventsHandler</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "UEventsHandler_8h_source.html#l00128" > UEventsHandler.h:128</ a ></ div ></ div >
< div class = "ttc" id = "aclassUEventsManager_html_a10d4b359f630aa9387e77f8baefcc07c" >< div class = "ttname" >< a href = "classUEventsManager.html#a10d4b359f630aa9387e77f8baefcc07c" > UEventsManager::removeHandler</ a ></ div >< div class = "ttdeci" > static void removeHandler(UEventsHandler *handler)</ div ></ div >
< div class = "ttc" id = "aclassUEventsManager_html_a3bb033062e4a0eb59efdf5f84d170388" >< div class = "ttname" >< a href = "classUEventsManager.html#a3bb033062e4a0eb59efdf5f84d170388" > UEventsManager::addHandler</ a ></ div >< div class = "ttdeci" > static void addHandler(UEventsHandler *handler)</ div ></ div >
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< div class = "ttc" id = "aclassUThread_html" >< div class = "ttname" >< a href = "classUThread.html" > UThread</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "UThread_8h_source.html#l00086" > UThread.h:87</ a ></ div ></ div >
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</ div > <!-- fragment --> < dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classUEventsManager.html" > UEventsManager</ a > </ dd >
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< a class = "el" href = "classUEvent.html" > UEvent</ a > </ dd >
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< a class = "el" href = "UThreadNode_8h.html#a82fc8ffe23f95d50f934eb27afd351d6" title = "Alias for UThread, kept for backward compatibility." > UThreadNode</ a > </ dd ></ dl >
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< p class = "definition" > Definition at line < a class = "el" href = "UEventsHandler_8h_source.html#l00128" > 128</ a > of file < a class = "el" href = "UEventsHandler_8h_source.html" > UEventsHandler.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Constructor & Destructor Documentation</ h2 >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#abfe2ba3d1fb92e59aff1978cbc21d134" > ◆  </ a ></ span > UEventsHandler()</ h2 >
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< p >< a class = "el" href = "classUEventsHandler.html" > UEventsHandler</ a > constructor.</ p >
< p > Note : You can call EventsManager::addHandler(this) at the end of the constructor of the inherited class where the virtual method handleEvent(...) is defined. If so, the < a class = "el" href = "classUEventsHandler.html" > UEventsHandler</ a > doesn't need to be manually added to the EventsManager where the handler is instantiated. We decided to not include UEventsManager::addHandler(this) in this abstract class constructor because an event can be handled (calling the pure virtual method) while the concrete class is constructed. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "UEventsHandler_8h_source.html#l00172" > 172</ a > of file < a class = "el" href = "UEventsHandler_8h_source.html" > UEventsHandler.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a15ac2bf243e938c411fac0dff7db2f51" > ◆  </ a ></ span > ~UEventsHandler()</ h2 >
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< td class = "memname" > virtual UEventsHandler::~UEventsHandler </ td >
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< p >< a class = "el" href = "classUEventsHandler.html" > UEventsHandler</ a > destructor.</ p >
< p > By default, it removes the handler reference from the < a class = "el" href = "classUEventsManager.html" > UEventsManager</ a > . To be thread-safe, the inherited class must remove itself from the < a class = "el" href = "classUEventsManager.html" > UEventsManager</ a > before it is deleted because an event can be handled (calling the pure virtual method < a class = "el" href = "classUEventsHandler.html#a0d43b582c19f01196a513f66d3618d8d" > handleEvent()</ a > ) after the concrete class is deleted. </ p >
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< h2 class = "groupheader" > Member Function Documentation</ h2 >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a0d43b582c19f01196a513f66d3618d8d" > ◆  </ a ></ span > handleEvent()</ h2 >
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< p > Method called by the < a class = "el" href = "classUEventsManager.html" > UEventsManager</ a > to handle an event. Important : this method must do a minimum of work because the faster the dispatching loop is done; the faster the events are received. If a handling function takes too much time, the events list can grow faster than it is emptied. The event can be modified. </ p >< dl class = "section return" >< dt > Returns</ dt >< dd > "true" to notify < a class = "el" href = "classUEventsManager.html" > UEventsManager</ a > that this handler took ownership of the event (meaning it must delete it). The event will not be dispatched to next handlers. </ dd >
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"false" to let event be dispatched to next handlers (default behavior). < a class = "el" href = "classUEventsManager.html" > UEventsManager</ a > will take care of deleting the event. </ dd ></ dl >
< p > Implemented in < a class = "el" href = "classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09" > rtabmap::RtabmapThread</ a > , and < a class = "el" href = "classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8" > rtabmap::OdometryThread</ a > .</ p >
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< p > Only the < a class = "el" href = "classUEventsManager.html" > UEventsManager</ a > has access to the < a class = "el" href = "classUEventsHandler.html#a0d43b582c19f01196a513f66d3618d8d" > handleEvent()</ a > method. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "UEventsHandler_8h_source.html#l00140" > 140</ a > of file < a class = "el" href = "UEventsHandler_8h_source.html" > UEventsHandler.h</ a > .</ p >
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< hr /> The documentation for this class was generated from the following file:< ul >
< li > utilite/include/rtabmap/utilite/< a class = "el" href = "UEventsHandler_8h_source.html" > UEventsHandler.h</ a ></ li >
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