BehaviorContainer.cpp

Go to the documentation of this file.

/*
 * BehaviorContainer.cpp
 *
 *  Created on: Nov 3, 2011
 *      Author: mriedel
 */

#include <tk_behavior/BehaviorContainer.hpp>

#include <boost/foreach.hpp>

namespace TELEKYB_NAMESPACE {

// Static Initialization
//pluginlib::ClassLoader<Behavior> BehaviorContainer::behaviorLoader(
//              "tk_behavior", std::string( TELEKYB_NAMESPACE_STRING ) + "::Behavior");
std::set<Behavior*> BehaviorContainer::globalBehaviorInstances;


BehaviorContainer::BehaviorContainer()
        : behaviorLoader("tk_behavior", std::string( TELEKYB_NAMESPACE_STRING ) + "::Behavior")
{

}

BehaviorContainer::~BehaviorContainer()
{
        // delete all Behaviors that are still loaded
        BOOST_FOREACH(Behavior *b, behaviorInstances) {
                b->destroy();
                delete b;
        }
}

Behavior* BehaviorContainer::loadBehavior(const std::string& behaviorClassName)
{
        Behavior *b = NULL;
        try {
                b = behaviorLoader.createClassInstance(behaviorClassName);

                // inform behavior about its name.
                //b->setName(behaviorClassName);
                // initialize
                b->initialize();

                // add local
                behaviorInstances.insert(b);
                // add global
                globalBehaviorInstances.insert(b);

                // success
                //ROS_INFO_STREAM("Successfully loaded Behavior: " << behaviorClassName << ", Instance: " << (long)b);
        } catch (pluginlib::PluginlibException &e) {
                ROS_ERROR_STREAM("Behavior Plugin " << behaviorClassName << " failed to load. Message: " << e.what());
        }

        return b;
}

bool BehaviorContainer::unloadBehavior(Behavior* b)
{
        if(behaviorInstances.erase(b)) {
                // erase from global
                globalBehaviorInstances.erase(b);
                // Inform behavior
                b->destroy();
                // delete
                delete b;
                ROS_INFO_STREAM("Successfully unloaded Behavior with ID: " << (long)b);
                return true;
        } else {
                // was not element of BehaviorContainer
                ROS_ERROR_STREAM("Could not delete Behavior with ID: " << (long)b << ". Did not exist!");
                return false;
        }
}

void BehaviorContainer::getAvailableBehaviors(std::vector<std::string>& behaviorClassNames)
{
        behaviorClassNames = behaviorLoader.getDeclaredClasses();
}

bool BehaviorContainer::behaviorInstanceExists(Behavior* instance)
{
        return globalBehaviorInstances.count(instance) != 0;
}





}