modeExecutor.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#include <modeExecutor.h>
#include <ros/ros.h>
 
ModeExecutor::ModeExecutor(IColorO* colorO)
: _stopRequested(false), default_priority(0)
{
        _colorO = colorO;
        _colorO->signalColorSet()->connect(boost::bind(&ModeExecutor::onColorSetReceived, this, _1));
}
 
ModeExecutor::~ModeExecutor()
{
}
 
uint64_t ModeExecutor::execute(cob_light::LightMode requestedMode)
{
        boost::shared_ptr<Mode> mode = ModeFactory::create(requestedMode, _colorO);
        // check if mode was correctly created
        if(mode)
                return execute(mode);
        else
                return 0;
}
 
uint64_t ModeExecutor::execute(boost::shared_ptr<Mode> mode)
{
        uint64_t u_id;
 
        // check if modes allready executing
        if(_mapActiveModes.size() > 0)
        {
                // check if mode with lower prio is running
                if(_mapActiveModes.begin()->first < mode->getPriority())
                {
                        ROS_DEBUG("Pause mode: %i with prio %i",
                                ModeFactory::type(_mapActiveModes.begin()->second.get()), _mapActiveModes.begin()->second->getPriority());
                        _mapActiveModes.begin()->second->pause();
                }
                else
                {
                        std::map<int, boost::shared_ptr<Mode>, std::greater<int> >::iterator itr;
                        itr = _mapActiveModes.find(mode->getPriority());
                        if(itr != _mapActiveModes.end())
                        {
                                ROS_DEBUG("Stopping mode: %i with prio %i",
                                        ModeFactory::type(itr->second.get()), itr->second->getPriority());
                                itr->second->stop();
                                _mapActiveModes.erase(itr);
                        }
                }
        }
        mode->signalColorReady()->connect(boost::bind(&IColorO::setColor, _colorO, _1));
        mode->signalColorsReady()->connect(boost::bind(&IColorO::setColorMulti, _colorO, _1));
        mode->signalModeFinished()->connect(boost::bind(&ModeExecutor::onModeFinishedReceived, this, _1));
        mode->setActualColor(_activeColor);
        ROS_DEBUG("Attaching Mode %i with prio: %i freq: %f timeout: %f pulses: %i ",
                ModeFactory::type(mode.get()), mode->getPriority(), mode->getFrequency(), mode->getTimeout(), mode->getPulses());
        _mapActiveModes.insert(std::pair<int, boost::shared_ptr<Mode> >(mode->getPriority(), mode));
 
        if(!_mapActiveModes.begin()->second->isRunning())
        {
                ROS_DEBUG("Executing Mode %i with prio: %i freq: %f timeout: %f pulses: %i ",
                        ModeFactory::type(mode.get()), mode->getPriority(), mode->getFrequency(), mode->getTimeout(), mode->getPulses());
                _mapActiveModes.begin()->second->start();
        }
        Mode* ptr = mode.get();
        u_id = reinterpret_cast<uint64_t>( ptr );
        return u_id;
}
 
void ModeExecutor::pause()
{
        if(_mapActiveModes.size() > 0)
        {
                _mapActiveModes.begin()->second->pause();
        }
}
 
void ModeExecutor::resume()
{
        if(_mapActiveModes.size() > 0 && !_mapActiveModes.begin()->second->isRunning())
                _mapActiveModes.begin()->second->start();
}
 
void ModeExecutor::stop()
{
        if(_mapActiveModes.size() > 0)
        {
                std::map<int, boost::shared_ptr<Mode>, std::greater<int> >::iterator itr;
                for(itr = _mapActiveModes.begin(); itr != _mapActiveModes.end(); itr++)
                {
                        itr->second->stop();
                }
                _mapActiveModes.clear();
        }
}
 
bool ModeExecutor::stop(uint64_t uId)
{
        bool ret = false;
        if(_mapActiveModes.size() > 0)
        {
                std::map<int, boost::shared_ptr<Mode>, std::greater<int> >::iterator itr;
                for(itr = _mapActiveModes.begin(); itr != _mapActiveModes.end(); itr++)
                {
                        uint64_t uid = reinterpret_cast<uint64_t>(itr->second.get());
                        if(uid == uId)
                        {
                                ROS_DEBUG("Stopping mode: %i with prio %i",
                                        ModeFactory::type(itr->second.get()), itr->second->getPriority());
                                itr->second->stop();
                                _mapActiveModes.erase(itr);
 
                                if(_mapActiveModes.size() > 0)
                                {
                                        if(!_mapActiveModes.begin()->second->isRunning())
                                        {
                                                ROS_DEBUG("Resume mode: %i with prio %i",
                                                        ModeFactory::type(_mapActiveModes.begin()->second.get()), _mapActiveModes.begin()->second->getPriority());
                                                _mapActiveModes.begin()->second->start();
                                        }
                                }
                                ret = true;
                                break;
                        }
                }
        }
        return ret;
}
void ModeExecutor::onModeFinishedReceived(int prio)
{
        //check if finished mode is the current active
        if(_mapActiveModes.begin()->first == prio)
        {
                //erase mode from map and exec mode with next lower prio
                _mapActiveModes.erase(prio);
                if(_mapActiveModes.size() > 0)
                {
                        ROS_DEBUG("Resume mode: %i with prio %i",
                                ModeFactory::type(_mapActiveModes.begin()->second.get()), _mapActiveModes.begin()->second->getPriority());
                        _mapActiveModes.begin()->second->start();
                }
        }
        //finished mode is not the current executing one (this should never happen)
        else
        {
                ROS_WARN("Mode finished which should't be executed");
                _mapActiveModes.erase(prio);
        }
}
 
void ModeExecutor::onColorSetReceived(color::rgba color)
{
  _activeColor = color;
}
 
int ModeExecutor::getExecutingMode()
{
        if(_mapActiveModes.size() > 0)
                return ModeFactory::type(_mapActiveModes.begin()->second.get());
        else
                return ModeFactory::type(NULL);
}
 
int ModeExecutor::getExecutingPriority()
{
        if(_mapActiveModes.size()>0)
                return _mapActiveModes.begin()->second->getPriority();
        else
                return default_priority;
}
 
uint64_t ModeExecutor::getExecutingUId()
{
        if(_mapActiveModes.size()>0)
                return reinterpret_cast<uint64_t>(_mapActiveModes.begin()->second.get());
        else
                return 0;
}
 
void ModeExecutor::setDefaultPriority(int priority)
{
        default_priority = priority;
}