JAUS++: jaus++/2.0/src/jaus/core/discovery/subsystem.cpp Source File

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00041 #include "jaus/core/discovery/subsystem.h"
00042 #include "jaus/core/discovery/vehicle.h"
00043 using namespace JAUS;
00044 
00045 
00051 Subsystem::Component::Component()
00052 {
00053     mIdentification = "Component";
00054     mAuthorityLevel = -1;
00055     mStatus = -1;
00056 }
00057 
00058 
00064 Subsystem::Component::Component(const Address& id)
00065 {
00066     mID = id;
00067     mAuthorityLevel = -1;
00068     mStatus = -1;
00069     mIdentification = "Component";
00070 }
00071 
00072 
00078 Subsystem::Component::Component(const Address& id, const Service::ID::Set& services)
00079 {
00080     mID = id;
00081     mServices = services;
00082     mIdentification = "Component";
00083     mAuthorityLevel = -1;
00084     mStatus = -1;
00085 }
00086 
00087 
00093 Subsystem::Component::Component(const Subsystem::Component& component)
00094 {
00095     *this = component;
00096 }
00097 
00098 
00104 Subsystem::Component::~Component()
00105 {
00106 }
00107 
00108 
00114 Subsystem::Component& Subsystem::Component::operator =(const Subsystem::Component& component)
00115 {
00116     mID = component.mID;
00117     mServices = component.mServices;
00118     mIdentification = component.mIdentification;
00119     mAuthorityLevel = component.mAuthorityLevel;
00120     mStatus = component.mStatus;
00121     return *this;
00122 }
00123 
00124 
00130 Subsystem::Subsystem()
00131 {
00132     mSubsystemID = 0;
00133     mType = OtherSubsystem;
00134 }
00135 
00136 
00142 Subsystem::Subsystem(const Subsystem& subsystem)
00143 {
00144     *this = subsystem;
00145 }
00146 
00147 
00153 Subsystem::~Subsystem()
00154 {
00155 }
00156 
00157 
00166 void Subsystem::AddComponent(const Address& component, const Service::ID::Set& services)
00167 {
00168     mSubsystemID = component.mSubsystem;
00169     mConfiguration[component.mNode].insert(Component(component, services));
00170 }
00171 
00172 
00180 void Subsystem::RemoveComponent(const Address& component)
00181 {
00182     mSubsystemID = component.mSubsystem;
00183     Component::Set::iterator c;
00184     Configuration::iterator node = mConfiguration.find(component.mNode);
00185     if(node != mConfiguration.end())
00186     {
00187         c = node->second.find(Component(component));
00188         if(c != node->second.end())
00189         {
00190             node->second.erase(c);
00191         }
00192     }
00193 }
00194 
00195 
00207 bool Subsystem::HaveService(const std::string& name, Address* id) const
00208 {
00209     Configuration::const_iterator node;
00210     for(node = mConfiguration.begin();
00211         node != mConfiguration.end();
00212         node++)
00213     {
00214         Component::Set::const_iterator component;
00215         for(component = node->second.begin();
00216             component != node->second.end();
00217             component++)
00218         {
00219             Service::ID::Set::const_iterator service;
00220             service = component->mServices.find(Service::ID(name));
00221             if(service != component->mServices.end())
00222             {
00223                 if(id)
00224                 {
00225                     *id = component->mID;
00226                 }
00227                 return true;
00228             }
00229         }
00230     }
00231     return false;
00232 }
00233 
00234 
00244 bool Subsystem::HaveComponent(const Address& id) const
00245 {
00246     Configuration::const_iterator node;
00247     for(node = mConfiguration.begin();
00248         node != mConfiguration.end();
00249         node++)
00250     {
00251         Component::Set::const_iterator component;
00252         for(component = node->second.begin();
00253             component != node->second.end();
00254             component++)
00255         {
00256             if(component->mID == id)
00257             {
00258                 return true;
00259             }
00260         }
00261     }
00262     return false;
00263 }
00264 
00265 
00277 Subsystem::Component* Subsystem::GetComponent(const Address& id)
00278 {
00279     if(id.IsValid() == false)
00280     {
00281         throw Exception();
00282         return NULL;
00283     }
00284     Configuration::iterator node;
00285     for(node = mConfiguration.begin();
00286         node != mConfiguration.end();
00287         node++)
00288     {
00289         if(node->first == id.mNode)
00290         {
00291             Component::Set::iterator component;
00292             for(component = node->second.begin();
00293                 component != node->second.end();
00294                 component++)
00295             {
00296                 if(component->mID == id)
00297                 {
00298                     return (Subsystem::Component *)&(*component);
00299                 }
00300             }
00301             // If the component doesn't exist, create it.
00302             node->second.insert(Component(id));
00303             for(component = node->second.begin();
00304                 component != node->second.end();
00305                 component++)
00306             {
00307                 if(component->mID == id)
00308                 {
00309                     return (Subsystem::Component *)&(*component);
00310                 }
00311             }
00312 
00313         }
00314         break;
00315     }
00316     // If we got here, then we don't have any nodes created yet.
00317     mConfiguration[id.mNode].insert(Component(id));
00318     return (Subsystem::Component *)&(*mConfiguration[id.mNode].begin());
00319 }
00320 
00321 
00331 const Subsystem::Component* Subsystem::GetComponent(const Address& id) const
00332 {
00333     if(id.IsValid() == false)
00334     {
00335         throw Exception();
00336         return NULL;
00337     }
00338     Configuration::const_iterator node;
00339     for(node = mConfiguration.begin();
00340         node != mConfiguration.end();
00341         node++)
00342     {
00343         if(node->first == id.mNode)
00344         {
00345             Component::Set::const_iterator component;
00346             for(component = node->second.begin();
00347                 component != node->second.end();
00348                 component++)
00349             {
00350                 if(component->mID == id)
00351                 {
00352                     return &(*component);
00353                 }
00354             }
00355         }
00356         break;
00357     }
00358     throw Exception();
00359     return NULL;
00360 }
00361 
00362 
00370 Address::List Subsystem::GetComponentsWithService(const std::string& name) const
00371 {
00372     Address::List results;
00373     Configuration::const_iterator node;
00374     for(node = mConfiguration.begin();
00375         node != mConfiguration.end();
00376         node++)
00377     {
00378         Component::Set::const_iterator component;
00379         for(component = node->second.begin();
00380             component != node->second.end();
00381             component++)
00382         {
00383             Service::ID::Set::const_iterator service;
00384             service = component->mServices.find(Service::ID(name));
00385             if(service != component->mServices.end())
00386             {
00387                 results.push_back(component->mID);
00388             }
00389         }
00390     }
00391     return results;
00392 }
00393 
00394 
00400 Subsystem::Component::List Subsystem::GetConfiguration() const
00401 {
00402     Component::List results;
00403     Configuration::const_iterator node;
00404     for(node = mConfiguration.begin();
00405         node != mConfiguration.end();
00406         node++)
00407     {
00408         Component::Set::const_iterator component;
00409         for(component = node->second.begin();
00410             component != node->second.end();
00411             component++)
00412         {
00413             results.push_back(*component);
00414         }
00415     }
00416     return results;
00417 }
00418 
00419 
00425 Address::List Subsystem::GetAddressList() const
00426 {
00427     Address::List results;
00428     Configuration::const_iterator node;
00429     for(node = mConfiguration.begin();
00430         node != mConfiguration.end();
00431         node++)
00432     {
00433         Component::Set::const_iterator component;
00434         for(component = node->second.begin();
00435             component != node->second.end();
00436             component++)
00437         {
00438             results.push_back(component->mID);
00439         }
00440     }
00441     return results;
00442 }
00443 
00444 
00450 Subsystem& Subsystem::operator =(const Subsystem& subsystem)
00451 {
00452     if(this != &subsystem)
00453     {
00454         mSubsystemID = subsystem.mSubsystemID;
00455         mConfiguration = subsystem.mConfiguration;
00456         mType = subsystem.mType;
00457         mIdentification = subsystem.mIdentification;
00458         mUpdateTime = subsystem.mUpdateTime;
00459     }
00460     return *this;
00461 }
00462 
00463 
00469 void Subsystem::CopySubsystemData(const Subsystem* subsystem)
00470 {
00471     mSubsystemID = subsystem->mSubsystemID;
00472     mConfiguration = subsystem->mConfiguration;
00473     mType = subsystem->mType;
00474     mIdentification = subsystem->mIdentification;
00475     mUpdateTime = subsystem->mUpdateTime;
00476 }
00477 
00478 
00479 
00485 void Subsystem::DeleteSubsystemMap(Map& list)
00486 {
00487     Map::iterator s;
00488     for(s = list.begin();
00489         s != list.end();
00490         s++)
00491     {
00492         JAUS::Vehicle* v = dynamic_cast<JAUS::Vehicle *>(s->second);
00493         if(v)
00494         {
00495             delete v;
00496         }
00497         else
00498         {
00499             delete s->second;
00500         }
00501     }
00502     list.clear();
00503 }
00504 
00505 
00511 void Subsystem::CopySubsystemMap(const Map& src, Map& dest)
00512 {
00513     Map::const_iterator s;
00514     DeleteSubsystemMap(dest);
00515     for(s = src.begin();
00516         s != src.end();
00517         s++)
00518     {
00519         dest[s->first] = s->second->Clone();
00520     }
00521 }
00522 
00523 
00524 /* End of File */