WorldStateUpdaterBase.cpp

Go to the documentation of this file.

/*
* This file is part of ArmarX.
*
* 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::
* @author     Mirko Waechter ( mirko.waechter at kit dot edu)
* @date       2014
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#include "WorldStateUpdaterBase.h"
 
namespace memoryx
{
 
    WorldStateUpdaterBase::WorldStateUpdaterBase()
    {
    }
 
    void WorldStateUpdaterBase::setObserver(const WorldStateObserverInterfacePrx& worldStateObserver, const Ice::Current&)
    {
        removeProxyDependency(getProperty<std::string>("WorldStateObserverName").getValue());
        this->worldStateObserver = worldStateObserver;
    }
 
    void WorldStateUpdaterBase::requestUpdateOnRegisteredObserver(const Ice::Current&)
    {
        requestUpdate(worldStateObserver);
    }
 
    void WorldStateUpdaterBase::requestUpdate(const WorldStateObserverInterfacePrx& observer, const Ice::Current& c)
    {
        observer->addObservablePredicateInstances(calcPredicates());
    }
 
 
    void WorldStateUpdaterBase::onInitComponent()
    {
        usingProxy(getProperty<std::string>("WorldStateObserverName").getValue());
 
        onInitWorldStateUpdater();
    }
 
    void WorldStateUpdaterBase::onConnectComponent()
    {
        worldStateObserver = getProxy<WorldStateObserverInterfacePrx>(getProperty<std::string>("WorldStateObserverName").getValue());
        worldStateObserver->registerAsUpdater(getDefaultName(), WorldStateUpdaterInterfacePrx::uncheckedCast(getProxy()));
        onConnectWorldStateUpdater();
    }
 
 
} // namespace memoryx