ConditionRoot.cpp

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/*
* This file is part of ArmarX.
*
* Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX 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 <http://www.gnu.org/licenses/>.
*
* @package    ArmarX::Core
* @author     Kai Welke (welke _at_ kit _dot_ edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#include "LiteralImpl.h"
 
#include <ArmarXCore/observers/condition/ConditionRoot.h>
#include <ArmarXCore/observers/variant/VariantContainer.h>
#include <ArmarXCore/core/logging/Logging.h>
 
#include <cstdarg>
#include <list>
 
namespace armarx
{
    void ConditionRoot::update(const Ice::Current& c)
    {
        std::unique_lock lock(updateMutex);
 
        if (childs.size() != 1)
        {
            return;
        }
 
        // empty terms is always evaluated to true
        if ((!fired || !onlyFireOnce) && (!childs.at(0) || childs.at(0)->getValue()))
        {
            value = true;
            ARMARX_DEBUG_S << "Condition fulfilled, sending event " << event->eventName << std::endl;
            try
            {
                event->properties.clear();
                for (const DatafieldRefBasePtr& ref : refs)
                {
                    DatafieldRefPtr r = DatafieldRefPtr::dynamicCast(ref);
                    const Variant& data = *r->getDataField();
                    event->properties[r->getDataFieldIdentifier()->getIdentifierStr()] = new SingleVariant(data);
                }
                //needs to be async otherwise it can lead to deadlock if the listener uses a datafield of an observer
                listener->begin_reportEvent(event);
            }
            catch (std::exception& e)
            {
                ARMARX_ERROR_S << "Could not report event: " << e.what();
            }
 
            fired = true;
        }
    }
 
    void ConditionRoot::updateWithData(const Ice::Current& c)
    {
        std::unique_lock lock(updateMutex);
 
        if (childs.size() != 1)
        {
            return;
        }
 
        // empty terms is always evaluated to true
        if ((!fired || !onlyFireOnce) && (!childs.at(0) || childs.at(0)->getValue()))
        {
            value = true;
            ARMARX_VERBOSE_S << "Condition fulfilled, sending event with data " << event->eventName << std::endl;
            try
            {
                StringVariantBaseMap values = childs.at(0)->getDatafields();
                event->properties.clear();
                ARMARX_INFO_S << VAROUT(event->eventName);
                for (auto& v : values)
                {
                    const Variant& data = *VariantPtr::dynamicCast(v.second);
                    event->properties[v.first] = new SingleVariant(data);
                    ARMARX_INFO_S << v.first << " cond val: " << VariantPtr::dynamicCast(v.second)->getOutputValueOnly();
                }
                for (const DatafieldRefBasePtr& ref : refs)
                {
                    DatafieldRefPtr r = DatafieldRefPtr::dynamicCast(ref);
                    auto id = r->getDataFieldIdentifier()->getIdentifierStr();
                    if (event->properties.count(id) > 0)
                    {
                        continue;
                    }
                    const Variant& data = *r->getDataField();
                    event->properties[id] = new SingleVariant(data);
                    ARMARX_INFO_S << r->getDataFieldIdentifier()->getIdentifierStr() << " val: " << r->getDataField()->getOutputValueOnly();
                }
 
                //needs to be async otherwise it can lead to deadlock if the listener uses a datafield of an observer
                listener->begin_reportEvent(event);
            }
            catch (std::exception& e)
            {
                ARMARX_ERROR_S << "Could not report event: " << e.what();
            }
 
            fired = true;
        }
    }
 
    void ConditionRoot::output(std::ostream& out) const
    {
        out << "Event: " << event->eventName << " - ";
 
        if (childs.size() > 0)
        {
            out << "Expression: " << TermImplPtr::dynamicCast(childs.at(0));
        }
    }
 
    ConditionRoot::ConditionRoot()
    {
        type = eConditionRoot;
    }
 
    ConditionRoot::ConditionRoot(const EventListenerInterfacePrx& listener, const EventBasePtr& event, const std::string& description, bool onlyFireOnce, const DatafieldRefList& refs)
    {
        type = eConditionRoot;
        this->listener = listener->ice_collocationOptimized(false); // events are reported with begin_reportEvent -> this does not work if the event receiver is in the same process and collocation is used
        this->event = event;
        this->description = description;
        this->onlyFireOnce = onlyFireOnce;
        this->refs = refs;
    }
 
    std::vector<LiteralImplPtr> ConditionRoot::ExtractLiterals(const TermImplBasePtr& expression)
    {
        std::list<TermImplPtr> terms;
        std::vector<LiteralImplPtr> literals;
 
        terms.push_back(TermImplPtr::dynamicCast(expression));
 
        while (terms.size() != 0)
        {
            // retrieve front of list
            TermImplPtr term = terms.front();
            terms.pop_front();
 
            // test type
            if (term->getType() == eLiteral)
            {
                literals.push_back(LiteralImplPtr::dynamicCast(term));
            }
            else
            {
                // add childs to list
                TermImplSequence childs = term->getChilds();
                TermImplSequence::iterator iterChilds = childs.begin();
 
                while (iterChilds != childs.end())
                {
                    terms.push_back(TermImplPtr::dynamicCast(*iterChilds));
                    iterChilds++;
                }
            }
 
        }
 
 
 
        return literals;
    }
}