.. _program_listing_file_include_yasmin_blackboard_blackboard.hpp:

Program Listing for File blackboard.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_yasmin_blackboard_blackboard.hpp>` (``include/yasmin/blackboard/blackboard.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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> remapping;
   
     const std::string &remap(const std::string &key);
   
   public:
     Blackboard();
   
     Blackboard(const Blackboard &other);
   
     ~Blackboard();
   
     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();
     }
   
     template <class T> void set(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);
   
       if (!this->contains(name)) {
         BlackboardValue<T> *b_value = new BlackboardValue<T>(value);
         this->values.insert({name, b_value});
   
       } else {
         ((BlackboardValue<T> *)this->values.at(name))->set(value);
       }
     }
   
     void remove(const std::string &key);
   
     bool contains(const std::string &key);
   
     int size();
   
     std::string to_string();
   
     void set_remapping(const std::map<std::string, std::string> &remapping);
   
     const std::map<std::string, std::string> &get_remapping();
   };
   
   } // namespace blackboard
   } // namespace yasmin
   
   #endif // YASMIN__BLACKBOARD_HPP