DebugObserver.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
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#include "DebugObserver.h"
 
#include <chrono>
 
#include <ArmarXCore/observers/checks/ConditionCheckEquals.h>
#include <ArmarXCore/observers/checks/ConditionCheckUpdated.h>
#include <ArmarXCore/observers/exceptions/user/InvalidDatafieldException.h>
 
namespace armarx
{
 
    DebugObserver::DebugObserver()
    {
    }
 
    void
    DebugObserver::onInitObserver()
    {
        usingTopic(getProperty<std::string>("DebugObserverTopicName"));
 
        offerConditionCheck("updated", new ConditionCheckUpdated());
        offerConditionCheck("equals", new ConditionCheckEquals());
    }
 
    void
    DebugObserver::onConnectObserver()
    {
    }
 
    void
    DebugObserver::setDebugDatafield_async(
        const AMD_DebugObserverInterface_setDebugDatafieldPtr& amd,
        const std::string& channelName,
        const std::string& datafieldName,
        const VariantBasePtr& value,
        const Ice::Current& c)
    {
        addWorkerJob(
            "DebugObserver::setDebugDatafield",
            [this, amd, channelName, datafieldName, value]
            {
                callAndPassExceptionToAMD(
                    amd,
                    [&]
                    {
                        if (!existsChannel(channelName))
                        {
                            offerChannel(channelName, "");
                        }
 
                        if (!existsDataField(channelName, datafieldName))
                        {
                            offerDataFieldWithDefault(
                                channelName, datafieldName, *VariantPtr::dynamicCast(value), "");
                        }
                        else
                        {
                            setDataFieldFlatCopy(
                                channelName, datafieldName, VariantPtr::dynamicCast(value));
                        }
 
                        updateChannel(channelName);
                        amd->ice_response();
                    });
            });
    }
 
    void
    DebugObserver::setDebugChannel_async(const AMD_DebugObserverInterface_setDebugChannelPtr& amd,
                                         const std::string& channelName,
                                         const StringVariantBaseMap& valueMap,
                                         const Ice::Current& c)
    {
        addWorkerJob("DebugObserver::setDebugChannel",
                     [this, amd, channelName, valueMap]
                     {
                         callAndPassExceptionToAMD(amd,
                                                   [&]
                                                   {
                                                       offerOrUpdateDataFieldsFlatCopy(channelName,
                                                                                       valueMap);
                                                       amd->ice_response();
                                                   });
                     });
    }
 
    void
    DebugObserver::removeDebugDatafield_async(
        const AMD_DebugObserverInterface_removeDebugDatafieldPtr& amd,
        const std::string& channelName,
        const std::string& datafieldName,
        const Ice::Current&)
    {
        addWorkerJob("DebugObserver::removeDebugDatafield",
                     [this, amd, channelName, datafieldName]
                     {
                         callAndPassExceptionToAMD(amd,
                                                   [&]
                                                   {
                                                       removeDatafield(new DataFieldIdentifier(
                                                           getName(), channelName, datafieldName));
                                                       amd->ice_response();
                                                   });
                     });
    }
 
    void
    DebugObserver::removeDebugChannel_async(
        const AMD_DebugObserverInterface_removeDebugChannelPtr& amd,
        const std::string& channelName,
        const Ice::Current&)
    {
        addWorkerJob("DebugObserver::removeDebugChannel",
                     [this, amd, channelName]
                     {
                         callAndPassExceptionToAMD(amd,
                                                   [&]
                                                   {
                                                       removeChannel(channelName);
                                                       amd->ice_response();
                                                   });
                     });
    }
 
    void
    DebugObserver::removeAllChannels_async(
        const AMD_DebugObserverInterface_removeAllChannelsPtr& amd,
        const Ice::Current&)
    {
        addWorkerJob("DebugObserver::removeAllChannels",
                     [this, amd]
                     {
                         callAndPassExceptionToAMD(amd,
                                                   [&]
                                                   {
                                                       ChannelRegistry channels =
                                                           getAvailableChannels(false);
                                                       ChannelRegistry::iterator it =
                                                           channels.end();
 
                                                       for (; it != channels.end(); it++)
                                                       {
                                                           ChannelRegistryEntry& entry = it->second;
                                                           removeChannel(entry.name);
                                                       }
                                                       amd->ice_response();
                                                   });
                     });
    }
} // namespace armarx
 
armarx::PropertyDefinitionsPtr
armarx::DebugObserver::createPropertyDefinitions()
{
    return PropertyDefinitionsPtr(new DebugObserverPropertyDefinitions(getConfigIdentifier()));
}