prop_logic_event.cpp

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#include <predicate_manager/prop_logic_event.h>

#include <ros/ros.h>

using namespace std;
using namespace predicate_manager;


PropLogicEvent::
PropLogicEvent ( const string& name,
                 const PropLogic& pl ) :
    Event ( name ),
    prop_logic_ ( pl.clone() ),
    val_ ( false )
{
    declareAllDependencies();
}

PropLogicEvent::
PropLogicEvent ( const string& name ) :
    Event ( name ),
    prop_logic_ (),
    val_ ( false )
{}

void
PropLogicEvent::
bindPropLogic ( const PropLogic& pl )
{
    if ( prop_logic_ != 0 )
    {
        ROS_ERROR_STREAM ( "Overwriting the Propositional Logic formula associated with event " << getName() );
    }
    prop_logic_ = pl.clone();
    declareAllDependencies();

    update();
}

void
PropLogicEvent::
update()
{
    if ( prop_logic_ != 0 )
    {
        bool val = prop_logic_->evaluate ( boost::bind ( &PropLogicEvent::evaluate,this,_1 ) );
        if ( val && !val_ )
            triggerEvent(); 

        val_ = val;
    }
}

void
PropLogicEvent::
declareAllDependencies()
{
    if ( prop_logic_!=0 )
    {
        NameIDSet dep_set;
        prop_logic_->printVariables ( dep_set );
        foreach ( NameID dep_name_id, dep_set )
        {
            declareDependency ( dep_name_id );
        }
    }
}

bool
PropLogicEvent::
evaluate ( const NameID& dep_name_id )
{
    return getDependencyValue ( dep_name_id.second, dep_name_id.first );
}