PilotNode.cc

Go to the documentation of this file.
00001 #include "Motion/WalkMC.h"
00002 #ifdef TGT_HAS_WALK
00003 
00004 #include "Crew/Pilot.h"
00005 #include "Events/PilotEvent.h"
00006 
00007 #include "PilotNode.h"
00008 
00009 void PilotNode::preStart() {
00010   const PilotRequest *p = tryExtractSignal<PilotRequest>(event);
00011   if ( p )
00012     pilotreq = *p;
00013   cancelFlag = false;
00014   VisualRoutinesStateNode::preStart();
00015 }
00016 
00017 void PilotNode::postStart() {
00018   VisualRoutinesStateNode::postStart();
00019   if ( !cancelFlag ) {
00020     erouter->addListener(this, EventBase::pilotEGID, (size_t)this, EventBase::statusETID);
00021     pilot->executeRequest(this,pilotreq);
00022   }
00023 }
00024 
00025 void PilotNode::stop() {
00026   pilot->pilotPop();  // in case the request was still executing when we exited
00027   VisualRoutinesStateNode::stop();
00028 }
00029 
00030 void PilotNode::doEvent() {
00031   postStateCompletion();
00032 }
00033 
00034 void PilotNode::cancelThisRequest() {
00035   cancelFlag = true;
00036   postStateFailure();
00037 }
00038 
00039 #endif