blackboard

  

Blackboard.h

class BBItem

    {

      private:

        friend class Blackboard;

        cPolymorphic *_item;

        std::string _label;

        SubscriberVector subscribers;

      public:

        /** Return the label of this data item*/

        const char *label() {return _label.c_str();}

        /** Return the data item*/

        cPolymorphic *data() {return _item;}

    };

　　typedef std::vector<BlackboardAccess *> SubscriberVector;

    typedef std::map<std::string, BBItem*> ContentsMap;

BBItemRef Blackboard::publish(const char *label, cPolymorphic *item)

{

    Enter_Method("publish(/"%s/", %s *ptr)", label, item->className());

    // check uniqueness of label

    ContentsMap::iterator k = contents.find(std::string(label));

    if (k!=contents.end())

        error("publish(): blackboard already contains an item with label `%s'", label);

    // add to BB contents

    BBItem *bbitem = new BBItem();

    bbitem->_item = item;

    bbitem->_label = label;

    contents[bbitem->_label] = bbitem;

    coreEV <<"pulish "<<label<<" on bb/n";

    coreEV <<"bbItem->label: "<<bbitem->label()<<endl; 

    // notify

    SubscriberVector& vec = registeredClients;

    for (SubscriberVector::iterator i=vec.begin(); i!=vec.end(); ++i){

        (*i)->blackboardItemPublished(bbitem);

    }

    return bbitem;

}

     class BlackboardAccess

{

protected:

       Blackboard *bb;

public:

       BlackboardAccess() {bb=NULL;}

      /** Returns a pointer to the Blackboard*/

       Blackboard *blackboard();

 

     /** @name Callbacks invoked by the blackboard */

       //@{

       /** Called whenever an already published item changes*/

       virtual bool blackboardItemChanged(BBItemRef item) = 0;

       /** Called whenever a new item is published on the Blackboard*/

       virtual bool blackboardItemPublished(BBItemRef item) = 0;

       /** Called whenever an item is removed from the Blackboard*/

       virtual bool blackboardItemWithdrawn(BBItemRef item) = 0;

       //@}

};

class BlackboardAccess

{

protected:

 Blackboard *bb;

public:

 BlackboardAccess() {bb=NULL;}

 /** Returns a pointer to the Blackboard*/

 Blackboard *blackboard();

 

 /** @name Callbacks invoked by the blackboard */

 //@{

 /** Called whenever an already published item changes*/

 virtual bool blackboardItemChanged(BBItemRef item) = 0;

 /** Called whenever a new item is published on the Blackboard*/

 virtual bool blackboardItemPublished(BBItemRef item) = 0;

 /** Called whenever an item is removed from the Blackboard*/

 virtual bool blackboardItemWithdrawn(BBItemRef item) = 0;

 //@}

};

BlackModule 是从 BlackboardAccess 类继承而来的，它提供一个函数 blackboard(), 返回一个 Blackboard 指针，通过它来调用函数，用来 subscribe to and  read information published on the Blackboard. 因为 BasicModule 是所有模块的基类，所以所有的模块也能够使用 Blackboard.