predicate_dependent_entity.cpp

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#include <predicate_manager/predicate_dependent_entity.h>

#include <ros/ros.h>

using namespace std;
using namespace predicate_manager;


PredicateDependentEntity::
PredicateDependentEntity ( const Dependencies& deps )
{
    foreach ( NameID dep, deps.dependency_set_ )
        dep_value_map_[dep] = NULL; 
    dep_set_ = deps.dependency_set_;
}

PredicateDependentEntity::
PredicateDependentEntity()
{}

void
PredicateDependentEntity::
declareDependency ( const std::string& dep_name, const int pm_id )
{
    NameID dep_name_id ( pm_id, dep_name );
    declareDependency ( dep_name_id );
}

void
PredicateDependentEntity::
declareDependency ( const NameID dep_name_id )
{
    dep_set_.insert ( dep_name_id );
}

void
PredicateDependentEntity::
bindDependency ( const NameID dep_name_id, const bool* value_ref )
{
    dep_value_map_[dep_name_id] = value_ref;
}


bool
PredicateDependentEntity::
getDependencyValue ( const string& dep_name, const int pm_id, DEP_STATUS* status )
{
    bool val_declared = true;
    boost::unordered_map<NameID,const bool*>::const_iterator it;
    NameID dep_name_id ( pm_id, dep_name );

    it = dep_value_map_.find ( dep_name_id );

    if ( it == dep_value_map_.end() )
    {
        ROS_ERROR_STREAM ( "PredicateDependentEntity attempted to access undeclared dependency "
                           << dep_name );
        ROS_ERROR ( "Continuing, but returning a 'false' value for this dependency." );

        if ( status )
            *status = UNDECLARED;

        return false;
    }

    if ( ! ( it->second ) )
    {
        ROS_WARN_STREAM ( "Requested the value of predicate '" << dep_name << "' which is still unknown."
                          << " Using a default 'false' value." );

        if ( status )
            *status = UNKNOWN_VALUE;

        return false;
    }

    if ( status )
        *status = OK;

    return * ( it->second );
}

NameIDSet PredicateDependentEntity::getDependencies ()
{
    return dep_set_;
}