[Robotflow-cvs] RobotFlow/MARIE/src newMarieCommandBehavior.cpp,NONE,1.1 Makefile.am,1.17,1.18

[Dominic L. <ma...@us...>]

Update of /cvsroot/robotflow/RobotFlow/MARIE/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv16162

Modified Files:
	Makefile.am 
Added Files:
	newMarieCommandBehavior.cpp 
Log Message:
added newMarieCommandBehavior.cpp

Index: Makefile.am
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/Makefile.am,v
retrieving revision 1.17
retrieving revision 1.18
diff -C2 -d -r1.17 -r1.18
*** Makefile.am	22 Sep 2004 20:24:51 -0000	1.17
--- Makefile.am	26 Oct 2004 19:47:03 -0000	1.18
***************
*** 28,32 ****
  	newMarieDataMap.cpp \
  	MarieRequestSystem.cpp \
! 	newMarieRequestSystem.cpp
  
  install-data-local:
--- 28,33 ----
  	newMarieDataMap.cpp \
  	MarieRequestSystem.cpp \
! 	newMarieRequestSystem.cpp \
! 	newMarieCommandBehavior.cpp
  
  install-data-local:

--- NEW FILE: newMarieCommandBehavior.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Dominic Letourneau / Carle Cote
*
*    This library is free software; you can redistribute it and/or
*    modify it under the terms of the GNU Lesser General Public
*    License as published by the Free Software Foundation; either
*    version 2.1 of the License, or (at your option) any later version.
*
*    This library is distributed in the hope that it will be useful,
*    but WITHOUT ANY WARRANTY; without even the implied warranty of
*    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
*    Lesser General Public License for more details.
*
*    You should have received a copy of the GNU Lesser General Public
*    License along with this library; if not, write to the Free Software
*    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*    You can contact MARIE development team at http://marie.sourceforge.net
*/

#include <sstream>
#include <string>
#include "MarieCommandBehavior.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class newMarieCommandBehavior;

  DECLARE_NODE(newMarieCommandBehavior)
  /*Node
   *
   * @name newMarieCommandBehavior
   * @category RobotFlow:MARIE:COMMAND
   * @description Create an object of type MarieCommandBehavior
   *
   * @input_name BEHAVIOR_NAME
   * @input_type string
   * @input_description The behavior name that will be activated/deactivated
   * 
   * @input_name BEHAVIOR_ACTIVATION
   * @input_type bool
   * @input_description true if the specified behavior is activated
   *
   * @output_name COMMAND_BEHAVIOR
   * @output_description Output MARIE BehaviorCommand data object
   * @output_type MarieCommandBahavior
   * 
  END*/
  
  
  using namespace std;

  class newMarieCommandBehavior : public BufferedNode 
  {
  
  private:
    //intputs
    int m_behaviorNameID;
    int m_behaviorActivationID;
    //outputs
    int m_behaviorCommandID;
  public:
        
  
    newMarieCommandBehavior(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {
      
      //inputs
      m_behaviorNameID = addInput("BEHAVIOR_NAME");
      m_behaviorActivationID = addInput("BEHAVIOR_ACTIVATION");

      //outputs
      m_behaviorCommandID = addOutput("COMMAND_BEHAVIOR");
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {
     
      ObjectRef BehaviorNameValue = getInput(m_behaviorNameID,count);
      ObjectRef BehaviorActivationValue = getInput(m_behaviorActivationID,count);

      if (!BehaviorNameValue->isNil() && !BehaviorActivationValue->isNil()) {
	
	RCPtr<String> name = BehaviorNameValue;
	RCPtr<Bool> activation = BehaviorActivationValue;

	MarieCommandBehavior *cb = new MarieCommandBehavior();

	cb->setActivation(name->val(), activation->val());

	out[count] = ObjectRef(cb);

      }
      else {
	out[count] = ObjectRef(new MarieDataNull());
      }
 
    }  
  };//class newMarieCommandBehavior
}//namespace marie