tk_behavior: BehaviorInterface.cpp Source File

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00001 /*
00002  * BehaviorInterface.cpp
00003  *
00004  *  Created on: Nov 22, 2011
00005  *      Author: mriedel
00006  */
00007 
00008 #include <tk_behavior/BehaviorInterface.hpp>
00009 
00010 #include <tk_behavior/Behavior.hpp>
00011 
00012 namespace TELEKYB_NAMESPACE {
00013 
00014 BehaviorInterface::BehaviorInterface(Behavior& behavior_)
00015         : behavior(behavior_), nodeHandle(behavior.getNodeHandle())
00016 {
00017         setNextBehavior = nodeHandle.advertiseService(
00018                         BEHAVIOR_SETNEXTBEHAVIOR, &BehaviorInterface::setNextBehaviorCB , this);
00019         getNextBehavior = nodeHandle.advertiseService(
00020                         BEHAVIOR_GETNEXTBEHAVIOR, &BehaviorInterface::getNextBehaviorCB , this);
00021         setParameterInitialized = nodeHandle.advertiseService(
00022                         BEHAVIOR_SETPARAMINIT, &BehaviorInterface::setParameterInitializedCB , this);
00023 
00024 }
00025 
00026 BehaviorInterface::~BehaviorInterface()
00027 {
00028 
00029 }
00030 
00031 
00032 // ServiceServers Callbacks
00033 bool BehaviorInterface::setNextBehaviorCB(
00034                 telekyb_srvs::BehaviorInput::Request& request,
00035                 telekyb_srvs::BehaviorInput::Response& response)
00036 {
00037         return behavior.setNextBehavior( Behavior::behaviorFromID(request.behaviorID) );
00038 }
00039 
00040 bool BehaviorInterface::getNextBehaviorCB(
00041                 telekyb_srvs::BehaviorOutput::Request& request,
00042                 telekyb_srvs::BehaviorOutput::Response& response)
00043 {
00044         // nextBehavior is always valid!
00045         Behavior* b = behavior.getNextBehavior();
00046         response.behaviorID = b->getID();
00047         response.behaviorName = b->getName();
00048         return true;
00049 }
00050 
00051 bool BehaviorInterface::setParameterInitializedCB(
00052                 telekyb_srvs::BoolInput::Request& request,
00053                 telekyb_srvs::BoolInput::Response& response)
00054 {
00055         behavior.setParameterInitialized((bool)request.input);
00056         return true;
00057 }
00058 
00059 }