Fawkes API  Fawkes Development Version
action_executor_dispatcher_inifin.cpp
1 /***************************************************************************
2  * action_executor_dispatcher_inifin.cpp - Inifin for the Golog++ Executor
3  *
4  * Created: Sat 12 Oct 2019 12:14:27 CEST 12:14
5  * Copyright 2019 Till Hofmann <hofmann@kbsg.rwth-aachen.de>
6  ****************************************************************************/
7 
8 /* This program is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2 of the License, or
11  * (at your option) any later version.
12  *
13  * This program is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  * GNU Library General Public License for more details.
17  *
18  * Read the full text in the LICENSE.GPL file in the doc directory.
19  */
20 
21 #include "action_executor_dispatcher_inifin.h"
22 
23 namespace fawkes {
24 
25 /** @class GologppDispatcherAspectIniFin
26  * The initializer/finalizer for the GologppDispatcherAspect.
27  * This AspectIniFin is responsible for creating the dispatcher,
28  * which can then be used by all executors.
29  */
30 
31 /** Constructor. */
33 : AspectIniFin("GologppDispatcherAspect")
34 {
35  dispatcher_ = new gpp::ActionExecutorDispatcher();
36 }
37 
38 /** Destructor*. */
40 {
41  delete dispatcher_;
42 }
43 
45 GologppDispatcherAspectIniFin::get_aspect(Thread *thread) const
46 {
47  GologppDispatcherAspect *exec_thread = dynamic_cast<GologppDispatcherAspect *>(thread);
48  if (!exec_thread) {
50  "Thread '%s' claims to have the GologppDispatcherAspect, but RRTI says it has not.",
51  thread->name());
52  }
53  return exec_thread;
54 }
55 
56 /** Initialize the thread with the aspect.
57  * This initializes the given thread with the dispatcher.
58  * @param thread The thread to initialize.
59  */
60 void
62 {
63  auto exec_thread = get_aspect(thread);
64  exec_thread->init_GologppDispatcherAspect(dispatcher_);
65 }
66 
67 /** Finalize the aspect of the given thread.
68  * @param thread The thread to finalize.
69  */
70 void
72 {
73  auto exec_thread = get_aspect(thread);
74  exec_thread->finalize_GologppDispatcherAspect();
75 }
76 
77 } // namespace fawkes
Aspect initializer/finalizer base class.
Definition: inifin.h:34
virtual void init(Thread *thread)
Initialize the thread with the aspect.
virtual void finalize(Thread *thread)
Finalize the aspect of the given thread.
An aspect that provides access to the Golog++ Action Executor Dispatcher.
void init_GologppDispatcherAspect(gpp::ActionExecutorDispatcher *dispatcher)
Init GologppDispatcherAspect.
void finalize_GologppDispatcherAspect()
Finalize the GologppDispatcherAspect.
Thread class encapsulation of pthreads.
Definition: thread.h:46
const char * name() const
Get name of thread.
Definition: thread.h:100
Dispatch an activity to a number of registered executors by checking all registered executors subsequ...
Fawkes library namespace.