robotflow-cvs

[Carle C. <car...@us...>]

Update of /cvsroot/robotflow/RobotFlow/MARIE/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31995

Modified Files:
	extractMarieCommandBehavior.cpp 
Log Message:
Output composite instead of vectors


Index: extractMarieCommandBehavior.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/extractMarieCommandBehavior.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** extractMarieCommandBehavior.cpp	31 Jan 2005 20:48:33 -0000	1.3
--- extractMarieCommandBehavior.cpp	6 Feb 2005 14:51:23 -0000	1.4
***************
*** 27,30 ****
--- 27,32 ----
  #include "Vector.h"
  #include "MarieDataNull.h"
+ #include "CompositeType.h"
+ #include <map>
  
  using namespace std;
***************
*** 46,56 ****
     * @input_description The MarieCommandBehavior object
     *
!    * @output_name RF_ACTIVATION_VECTOR 
!    * @output_description RobotFlow activation vector
!    * @output_type Vector<int>
     *
!    * @output_name PARAMS_VECTOR
!    * @output_description Parameters (String format) vector
!    * @output_type Vector<String>
     *    
    END*/
--- 48,58 ----
     * @input_description The MarieCommandBehavior object
     *
!    * @output_name ACTIVATIONS
!    * @output_description Composite <behavior name, activation>
!    * @output_type COMPOSITE
     *
!    * @output_name PARAMS
!    * @output_description Composite <behavior name, parameters> (parameters in string format seperated by space)
!    * @output_type COMPOSITE
     *    
    END*/
***************
*** 82,89 ****
  
        //outputs
!       m_activationID = addOutput("RF_ACTIVATION_VECTOR");
        
        //outputs
!       m_parametersID = addOutput("PARAMS_VECTOR");
      }
      
--- 84,91 ----
  
        //outputs
!       m_activationID = addOutput("ACTIVATIONS");
        
        //outputs
!       m_parametersID = addOutput("PARAMS");
      }
      
***************
*** 94,128 ****
  	RCPtr<MarieCommandBehavior> command = getInput(m_behaviorCommandID,count);
  
! 	//create behavior activation vector (RobotFlow)
! 	Vector<int> *vectActivations = Vector<int>::alloc(Behavior::get_behavior_size());
     
!    //create behavior activation vector (RobotFlow)
! 	Vector<String> *vectParams = Vector<String>::alloc(Behavior::get_behavior_size());
    
! 	//get known behavior names
! 	vector<string>& behaviorNames = Behavior::get_behaviors();
!         
! 	const std::map<std::string, bool> &activationMap = command->getActivationMap();
!    const std::map<std::string, std::string> &parametersMap = command->getParametersMap();
! 
! 	//copy activation values if they exists, else set activation to false (0)
! 	for (int i = 0; i < vectActivations->size(); i++) 
! 	{
! 	  //check if behavior exists
! 	  if (activationMap.find(behaviorNames[i]) != activationMap.end())
! 	  {
! 	    (*vectActivations)[i] = (int) command->getActivation(behaviorNames[i]);    
! 	  }
! 	  else
! 	  {
! 	    //default, not activated
! 	    (*vectActivations)[i] = 0;
! 	  }
!      
!      (*vectParams)[i] = command->getParameters(behaviorNames[i]);
! 	}
! 	//output result
! 	(*outputs[m_activationID].buffer)[count] = ObjectRef(vectActivations);
!    (*outputs[m_parametersID].buffer)[count] = ObjectRef(vectParams);
     
     
--- 96,138 ----
  	RCPtr<MarieCommandBehavior> command = getInput(m_behaviorCommandID,count);
  
!    CompositeType* activationsComposite = new CompositeType();
     
!    CompositeType* paramsComposite = new CompositeType();
    
!    std::map<std::string, bool>::const_iterator iterActivations = command->getActivationMap().begin();
!    
!    std::map<std::string, string>::const_iterator iterParameters = command->getParametersMap().begin();
! 	
!    for( ; iterActivations != command->getActivationMap().end(); iterActivations++)
!    {
!       stringstream key((*iterActivations).first);
!       activationsComposite->addField(key.str(), ObjectRef(Bool::alloc((*iterActivations).second)));
!    }
!    
!    for( ; iterParameters != command->getParametersMap().end(); iterParameters++)
!    {
!       stringstream key((*iterParameters).first);
!       stringstream value((*iterParameters).second);
!       try 
!       {
! 	    //try to read FlowDesigner object
! 	    ObjectRef ObjectValue;
! 	    
! 	    value >> ObjectValue;
! 	    
! 	    paramsComposite->addField(key.str(), ObjectValue);
!       }
!       catch(...) 
!       {
! 	    //unable to read FlowDesigner Object
! 	    //output standard string
! 	    ObjectRef ObjectValue(new String(value.str()));
! 	    paramsComposite->addField(key.str(),ObjectValue);
!       }
!    }
!    
!    //output result
! 	(*outputs[m_activationID].buffer)[count] = ObjectRef(activationsComposite);
!    (*outputs[m_parametersID].buffer)[count] = ObjectRef(paramsComposite);