DemoStateManager.cpp

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/*
 * 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    ArmarXGui::DemoStateManager
 * @author     Leonie Leven
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "DemoStateManager.h"
 
namespace armarx
{
    void
    DemoStateManager::onInitComponent()
    {
 
        this->defaultStartUp = getProperty<std::string>("DefaultStateStartUp").getValue();
        this->defaultStateValues = getProperty<std::string>("DefaultStates").getValue();
        std::size_t pos = defaultStartUp.find(":");
        std::string message = "";
        int i = 0;
        if (pos != std::string::npos)
        {
            message = defaultStartUp.substr(0, pos);
            i = std::stoi(defaultStartUp.substr(pos + 1));
        }
        this->currentSeverity = static_cast<severity::SeverityEnum>(i);
        this->currentState = message;
 
        std::vector<std::pair<std::string, int>> result;
        std::vector<std::string> pairs;
 
        boost::split(pairs, this->defaultStateValues, boost::is_any_of(";"));
 
        for (auto& pair : pairs)
        {
            std::vector<std::string> keyValue;
            boost::split(keyValue, pair, boost::is_any_of(":"));
 
            if (keyValue.size() == 2)
            {
                boost::trim(keyValue[0]);
                boost::trim(keyValue[1]);
                try
                {
                    StateAndSeverity newState{
                        .state = keyValue[0],
                        .severity = static_cast<severity::SeverityEnum>(std::stoi(keyValue[1]))};
                    this->allStates.push_back(newState);
                }
                catch (const std::exception& e)
                {
                    ARMARX_ERROR << "Invalid Severity";
                }
            }
        }
    }
 
    void
    DemoStateManager::onConnectComponent()
    {
    }
 
    void
    DemoStateManager::onDisconnectComponent()
    {
    }
 
    void
    DemoStateManager::onExitComponent()
    {
    }
 
    armarx::PropertyDefinitionsPtr
    DemoStateManager::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr def =
            new ::armarx::ComponentPropertyDefinitions(getConfigIdentifier());
        def->optional(properties.defaultStates,
                      "DefaultStates",
                      "Initial predefined states to be loaded at startup. These can be copied from "
                      "the operator view. Syntax: message:severity;message:severity;");
        def->optional(properties.defaultStateStartUp,
                      "DefaultStateStartUp",
                      "Predefined state that will be shown in the presenter view. Syntax: "
                      "message:severity");
        return def;
    }
 
    void
    DemoStateManager::setState(const std::string& state,
                               armarx::severity::SeverityEnum severity,
                               const Ice::Current&)
    {
        this->currentSeverity = severity;
        this->currentState = state;
    }
 
    void
    DemoStateManager::insertState(const std::string& state,
                                  armarx::severity::SeverityEnum severity,
                                  const Ice::Current&)
    {
        StateAndSeverity newState{.state = state, .severity = severity};
        this->allStates.push_back(newState);
    }
 
    void
    DemoStateManager::deleteState(const std::string& state,
                                  armarx::severity::SeverityEnum severity,
                                  const Ice::Current&)
    {
        StateAndSeverity delState{.state = state, .severity = severity};
 
        auto it =
            std::find_if(allStates.begin(),
                         allStates.end(),
                         [&](const StateAndSeverity& s)
                         { return s.state == delState.state && s.severity == delState.severity; });
 
        if (it != allStates.end())
        {
            allStates.erase(it);
        }
    }
 
    StateAndSeverity
    DemoStateManager::getStateAndSeverity(const Ice::Current&)
    {
        return {this->currentState, this->currentSeverity};
    }
 
    std::vector<StateAndSeverity>
    DemoStateManager::getCurrentStates(const ::Ice::Current&)
    {
        return this->allStates;
    }
 
} // namespace armarx