ArActionGroup.cpp

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArActionGroup.h"
#include "ArAction.h"
#include "ArRobot.h"
#include "ArLog.h"

AREXPORT ArActionGroup::ArActionGroup(ArRobot *robot)
{
  myRobot = robot;
}

AREXPORT ArActionGroup::~ArActionGroup()
{
  removeActions();
}


AREXPORT void ArActionGroup::addAction(ArAction *action, int priority)
{
  if (myRobot == NULL)
  {
    ArLog::log(ArLog::Terse, 
            "ArActionGroup::addAction: NULL robot pointer... failed.");
    return;
  }
  myActions.push_front(action);
  myRobot->addAction(action, priority);
}

AREXPORT void ArActionGroup::remAction(ArAction *action)
{
  if (myRobot == NULL)
  {
    ArLog::log(ArLog::Terse, 
            "ArActionGroup::remAction: NULL robot pointer... failed.");
    return;
  }
  myActions.remove(action);
  myRobot->remAction(action);
}

AREXPORT void ArActionGroup::activate(void)
{
  std::list<ArAction *>::iterator it;
  if (myRobot == NULL)
  {
    ArLog::log(ArLog::Terse, 
            "ArActionGroup::activate: NULL robot pointer... failed.");
    return;
  }
  for (it = myActions.begin(); it != myActions.end(); it++)
    (*it)->activate();
}

AREXPORT void ArActionGroup::activateExclusive(void)
{
  std::list<ArAction *>::iterator it;
  
  if (myRobot == NULL)
  {
    ArLog::log(ArLog::Terse, 
            "ArActionGroup::activateExclusive: NULL robot pointer... failed.");
    return;
  }
  myRobot->deactivateActions();
  for (it = myActions.begin(); it != myActions.end(); it++)
    (*it)->activate();
}

AREXPORT void ArActionGroup::deactivate(void)
{
  std::list<ArAction *>::iterator it;
  if (myRobot == NULL)
  {
    ArLog::log(ArLog::Terse, 
            "ArActionGroup::deactivate: NULL robot pointer... failed.");
    return;
  }
  myRobot->deactivateActions();
  for (it = myActions.begin(); it != myActions.end(); it++)
    (*it)->deactivate();
}

AREXPORT std::list<ArAction *> *ArActionGroup::getActionList(void)
{
  return &myActions;
}

AREXPORT void ArActionGroup::removeActions(void)
{
  std::list<ArAction *>::iterator it;

  if (myRobot == NULL)
  {
    ArLog::log(ArLog::Terse, 
            "ArActionGroup::removeActions: NULL robot pointer... very bad.");
    return;
  }

  for (it = myActions.begin(); it != myActions.end(); ++it)
    myRobot->remAction((*it));
}

AREXPORT void ArActionGroup::deleteActions(void)
{
  /* MPL removed this since it doesn't differentiate between actions it added and actions added to it, double deletes are no fun
   */
  /*
  std::list<ArAction *>::iterator it;
  for (it = myActions.begin(); it != myActions.end(); ++it)
  {
    delete (*it);
  }
  */
}

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