denso_task.cpp

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#include "denso_robot_core/denso_task.h"

namespace denso_robot_core
{
DensoTask::DensoTask(DensoBase* parent, Service_Vec& service, Handle_Vec& handle, const std::string& name,
                     const int* mode)
  : DensoBase(parent, service, handle, name, mode)
{
}

DensoTask::~DensoTask()
{
}

HRESULT DensoTask::InitializeBCAP(XMLElement* xmlElem)
{
  return AddVariable(xmlElem);
}

HRESULT DensoTask::StartService(ros::NodeHandle& node)
{
  DensoVariable_Vec::iterator itVar;
  for (itVar = m_vecVar.begin(); itVar != m_vecVar.end(); itVar++)
  {
    (*itVar)->StartService(node);
  }

  m_serving = true;

  return S_OK;
}

HRESULT DensoTask::StopService()
{
  m_mtxSrv.lock();
  m_serving = false;
  m_mtxSrv.unlock();

  DensoVariable_Vec::iterator itVar;
  for (itVar = m_vecVar.begin(); itVar != m_vecVar.end(); itVar++)
  {
    (*itVar)->StopService();
  }

  return S_OK;
}

bool DensoTask::Update()
{
  boost::mutex::scoped_lock lockSrv(m_mtxSrv);
  if (!m_serving)
    return false;

  DensoVariable_Vec::iterator itVar;
  for (itVar = m_vecVar.begin(); itVar != m_vecVar.end(); itVar++)
  {
    (*itVar)->Update();
  }

  return true;
}

HRESULT DensoTask::get_Variable(const std::string& name, DensoVariable_Ptr* var)
{
  if (var == NULL)
  {
    return E_INVALIDARG;
  }

  DensoBase_Vec vecBase;
  vecBase.insert(vecBase.end(), m_vecVar.begin(), m_vecVar.end());

  DensoBase_Ptr pBase;
  HRESULT hr = DensoBase::get_Object(vecBase, name, &pBase);
  if (SUCCEEDED(hr))
  {
    *var = boost::dynamic_pointer_cast<DensoVariable>(pBase);
  }

  return hr;
}

HRESULT DensoTask::AddVariable(const std::string& name)
{
  return DensoBase::AddVariable(ID_TASK_GETVARIABLE, name, m_vecVar);
}

HRESULT DensoTask::AddVariable(XMLElement* xmlElem)
{
  HRESULT hr = S_OK;
  XMLElement* xmlVar;

  for (xmlVar = xmlElem->FirstChildElement(DensoVariable::XML_VARIABLE_NAME); xmlVar != NULL;
       xmlVar = xmlVar->NextSiblingElement(DensoVariable::XML_VARIABLE_NAME))
  {
    hr = DensoBase::AddVariable(ID_TASK_GETVARIABLE, xmlVar, m_vecVar);
    if (FAILED(hr))
      break;
  }

  return hr;
}

}  // namespace denso_robot_core