Modules/BehaviorControl/Xabsl2BehaviorControl.cpp

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/**
* @file Xabsl2BehaviorControl.cpp
* 
* Implementation of class Xabsl2BehaviorControl.
*
* @author Uwe Düffert
* @author Jan Hoffmann
* @author Matthias Jüngel
* @author Martin Lötzsch
*/

#include "Xabsl2BehaviorControl.h"
#include "Platform/GTAssert.h"

Xabsl2BehaviorControl::Xabsl2BehaviorControl
(const BehaviorControlInterfaces& interfaces,
 SolutionRequest::xabsl2EngineID id
 ) : 
BehaviorControl(interfaces), 
GTXabsl2EngineExecutor(id,SolutionRequest::behaviorControl,robotPose.frameNumber)
{
}

void Xabsl2BehaviorControl::executeIfEngineCouldNotBeCreated()
{
  motionRequest.motionType = MotionRequest::specialAction;
  motionRequest.specialActionRequest.specialActionType = SpecialActionRequest::demoScratchHead;
}

void Xabsl2BehaviorControl::printGeneratedMainActionToString(char* buf)
{
  motionRequest.printOut(buf);
}

bool Xabsl2BehaviorControl::handleMessage(InMessage& message)
{
  return GTXabsl2EngineExecutor::handleMessage(message);
}

Xabsl2BehaviorControlAgentInterface::Xabsl2BehaviorControlAgentInterface
(const char* name,
 Xabsl2BehaviorControl* behaviorControl,
 const BehaviorControlInterfaces& interfaces
 ) : 
BehaviorControl(interfaces), Xabsl2NamedItem(name), behaviorControl(behaviorControl)
{
  ASSERT(behaviorControl != 0);
}

Xabsl2BehaviorControlAgentInterface::~Xabsl2BehaviorControlAgentInterface()
{
  if (behaviorControl != 0) delete behaviorControl;
}

void Xabsl2BehaviorControlAgentInterface::execute()
{
  ASSERT(behaviorControl != 0);
  behaviorControl->setSelectedAgent(n);
  behaviorControl->execute();
}

bool Xabsl2BehaviorControlAgentInterface::handleMessage(InMessage& message)
{
  ASSERT(behaviorControl != 0);
  return behaviorControl->handleMessage(message);
}

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