BehaviorBase.cc

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#include "BehaviorBase.h"
#include "Events/EventRouter.h"
#include "IPC/SharedObject.h"
#include "Shared/string_util.h"
#include "Motion/MotionManager.h"
#include "Shared/MarkScope.h"

BehaviorBase::BehaviorBase()
  : ReferenceCounter(), EventListener(), autoMotions(), started(false), instanceName(), event(NULL)
{
  getRegistryInstance().insert(this);
}

BehaviorBase::BehaviorBase(const std::string& name)
  : ReferenceCounter(), EventListener(), autoMotions(), started(false), instanceName(name), event(NULL)
{
  getRegistryInstance().insert(this);
}

BehaviorBase::BehaviorBase(const BehaviorBase& b)
  : ReferenceCounter(b), EventListener(b), autoMotions(), started(b.started), instanceName(b.instanceName), event(NULL)
{
  getRegistryInstance().insert(this);
}

BehaviorBase&
BehaviorBase::operator=(const BehaviorBase& b) {
  ReferenceCounter::operator=(b);
  EventListener::operator=(b);
  started=b.started;
  instanceName=b.instanceName;
  return *this;
}

BehaviorBase::~BehaviorBase() {
  setAutoDelete(false);
  if(started)
    std::cerr << "Behavior " << getName() << " deleted while running: use 'removeReference', not 'delete'" << std::endl;
  if(erouter!=NULL)
    erouter->removeListener(this);
  autoMotions.clear(); // this actually removes the motions via MonitorMotion's destructors
  getRegistryInstance().erase(this);
}

void
BehaviorBase::start() {
  //std::cout << getName() << " started " << this << std::endl;
  if(!started) {
    started=true;
    addReference();
    try {
      preStart();
      if(started) // re-verify flag in case the subclass called stop()
        doStart();
      if(started)
        postStart();
    } catch(...) {
      // abort our reference... don't delete on dereference
      bool prevAD = getAutoDelete();
      setAutoDelete(false);
      removeReference();
      setAutoDelete(prevAD);
      throw;
    }
  }
}

void
BehaviorBase::stop() {
  //std::cout << getName() << " stopped " << this << std::endl;
  if(started) {
    doStop();
    autoMotions.clear(); // this actually removes the motions via MonitorMotion's destructors
    started=false;
    erouter->remove(this);
    removeReference();
  }
}

void BehaviorBase::processEvent(const EventBase& curEvent) {
  const EventBase* prevEvent = event; // in case of recursive events triggered by doEvent
  event=&curEvent;
  if(prevEvent==event) { // prevent recursive looping on the same event (is this good or no?)
    std::cerr << "Warning: blocking recursive event posting of " << event->getDescription() << " to behavior " << getName() << std::endl;
  } else {
    doEvent();
    event=prevEvent;
  }
}

void BehaviorBase::doEvent() {
  if(event->getGeneratorID()==EventBase::textmsgEGID && event->getSourceID()==1)
    erouter->postEvent(*event);
}

std::string BehaviorBase::getClassName() const {
  return string_util::demangle(typeid(*this).name());
}

std::set<BehaviorBase*>&
BehaviorBase::getRegistryInstance() {
  static std::set<BehaviorBase*> registry;
  return registry;
}

std::string
BehaviorBase::humanifyClassName(const std::string& name) {
  std::string name2 = /*(string_util::endsWith(name,"Behavior") && name.size()>10) ? name.substr(0,name.size()-8) :*/ name;
  std::string name3;
  unsigned int rightEdge = name2.size();
  if ( rightEdge == 0 ) return name3;
  while ( !isalpha(name2[rightEdge-1]) && (--rightEdge > 0) );
  for(unsigned int i=0; i<rightEdge; ++i) {
    /*! a rough heuristic for inserting spaces... before any non-lowercase letter (i.e. caps or nums) where previous or next is lower, but not within a digit string or before a final digit string
     - ASCIIVision → ASCII Vision
     - Aibo3DController → Aibo3D Controller
     - EStopController → EStop Controller
     - Test32 → Test32
     - FlashIPAddr → Flash IP Addr
     */
  if(!islower(name2[i]) && i>1 && 
     ( (i+1<rightEdge && islower(name2[i+1]) && isalpha(name2[i-1])) || islower(name2[i-1]) ))
      name3.append(1,' ');
    name3.append(1,name2[i]);
  }
  name3.append(name2.substr(rightEdge));
  return name3;
}

// this version calls out to the other addMotion (instead of using optional argument)
// to avoid dependence on MotionManager.h just for the kStdPriority
BehaviorBase::MC_ID
BehaviorBase::addMotion(const SharedObjectBase& mc, Prunability_t prune/*=PERSISTENT*/) {
  return addMotion(mc,prune,MotionManager::kStdPriority);
}

BehaviorBase::MC_ID
BehaviorBase::addMotion(const SharedObjectBase& mc, Prunability_t prune, float priority/*=MotionManager::kStdPriority*/) {
  MotionManager::MC_ID mcid = MotionManager::invalid_MC_ID;
  if(prune==PERSISTENT)
    mcid = motman->addPersistentMotion(mc, priority);
  else if(prune==PRUNABLE)
    mcid = motman->addPrunableMotion(mc, priority);
  else
    throw std::runtime_error("Invalid prunability value for BehaviorBase::addMotion");
  if(mcid!=MotionManager::invalid_MC_ID)
    autoMotions[mcid].monitor(*this,mcid,mc.getRegion());
  return mcid;
}

void
BehaviorBase::removeMotion(MotionManager::MC_ID mcid) {
  autoMotions.erase(mcid); // removes motion via MonitorMotion destructor
}

BehaviorBase::MonitorMotion::~MonitorMotion() {
  if(mcid!=MotionManager::invalid_MC_ID) {
    erouter->removeListener(this,EventBase::motmanEGID,mcid,EventBase::deactivateETID);
    motman->removeMotion(mcid);
  }
  if(mcregion!=NULL)
    mcregion->RemoveReference();
}
void BehaviorBase::MonitorMotion::monitor(BehaviorBase& parent, MotionManager::MC_ID mc_id, RCRegion* region) {
  owner=&parent; mcid=mc_id; mcregion=region;
  if(mcregion!=NULL)
    mcregion->AddReference();
  if(mcid!=MotionManager::invalid_MC_ID)
    erouter->addListener(this,EventBase::motmanEGID,mcid,EventBase::deactivateETID);
}
void BehaviorBase::MonitorMotion::processEvent(const EventBase&) {
  // we have received notification that the motion was removed/pruned
  MotionManager::MC_ID tmp = mcid; // backup original
  mcid=MotionManager::invalid_MC_ID; // clear mcid *before* erasing the entry, so the destructor won't try to remove the mcid a second time
  mcregion->RemoveReference();
  mcregion=NULL;
  owner->autoMotions.erase(tmp);
  // by erasing the map entry, this instance should now be destructed!
}


/*! @file
 * @brief Implements BehaviorBase from which all Behaviors should inherit
 * @author ejt (Creator)
 */