predicate.cpp

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#include <predicate_manager/predicate.h>

#include <ros/ros.h>

using namespace std;
using namespace predicate_manager;


Predicate::
Predicate ( const string& name,
            const Dependencies& deps,
            bool initial_value ) :
    PredicateDependentEntity ( deps ),
    name_ ( name ),
    value_ ( initial_value ),
    trigger_ (),
    requested_updates_ ( 0 )
{}

Predicate::
Predicate ( const string& name,
            bool initial_value ) :
    PredicateDependentEntity(),
    name_ ( name ),
    value_ ( initial_value ),
    trigger_ (),
    requested_updates_ ( 0 )
{}

void
Predicate::
setValue ( bool val )
{
    if ( value_ != val )
    {
        if ( requested_updates_ > 0 )
        {
            ROS_WARN_STREAM ( "Predicate " << name_ << " is part of a cyclic dependency." );
        }

        if ( requested_updates_ > MAX_CYCLIC_UPDATES )
        {
            ROS_FATAL_STREAM ( "Predicate " << name_ << " is in a livelock. Terminating." );
            ros::shutdown();
        }

        requested_updates_++;

        value_ = val;

        if ( trigger_ )
            trigger_ ( value_ ); 
        else
            ROS_WARN_STREAM ( "Predicate " << name_ << " changed its value, but it is not bound to any Predicate manager." );

        requested_updates_--;
    }
}

std::string Predicate::getName()
{
    return name_;
}

bool Predicate::getValue()
{
    return value_;
}

std::string Predicate::setName ( const std::string& new_name )
{
    name_ = new_name;
}

void Predicate::setTrigger ( const boost::function<void ( bool ) > trigger )
{
    trigger_ = trigger;
}