/**
* Called on transition to a new action pattern. If the arbiter is currently
* inactive open is called afterwards. Note that if the arbiter is already
* part of the current behaviour, arbitrate can be called concurrently.
*/
void
Arbiter::init(const ArbiterParameters * _params)
{
Guard guard(mutex_);
// convert current arbitration to new configuration
// build new message vector
MessageVector tmp(_params->priorities.size(), NULL);
MessageVector::iterator first, last = tmp.end();
for (first = tmp.begin(); first != last; ++first)
delete *first;
// copy old message values if available
// allways except first time
if (params_) {
ArbiterParameters::RegistrationMap::const_iterator i, j;
// for each behaviour
for (i = _params->priorities.begin(); i != _params->priorities.end(); ++i) {
// if it existed before
j = params_->priorities.find(i->first);
if (j != params_->priorities.end()) {
// copy its current arbitration message to
// the new index in the new message vector
tmp[i->second] = message_[j->second];
// remove copy of pointer to avoid confusion
message_[j->second] = NULL;
}
else {
// else build new entry
tmp[i->second] = getMessageInstance();
}
}
}
else
for (first = tmp.begin(); first != last; ++first)
*first = getMessageInstance();
// swap old and new message vectors
message_.swap(tmp);
// delete old messages
last = tmp.end();
for (first = tmp.begin(); first != last; ++first)
delete *first;
// create local copy of current priority mapping
// for next arbitration change
params_ = _params;
// new activations
calcActivation();
}
void
MsgHandler::initOutputOptions(bool gui)
{
OptionsCont& oc = OptionsCont::getOptions();
//getMessageInstance()->report2cout(!gui && oc.getBool("verbose"));
getMessageInstance()->report2cout(true);
getWarningInstance()->report2cerr(!gui && !oc.getBool("suppress-warnings"));
// build the logger if possible
if (oc.isSet("log-file")) {
try {
OutputDevice *logFile = &OutputDevice::getDevice(oc.getString("log-file"));
getErrorInstance()->addRetriever(logFile);
getWarningInstance()->addRetriever(logFile);
getMessageInstance()->addRetriever(logFile);
} catch (IOError &) {
throw ProcessError("Could not build logging file '" + oc.getString("log-file") + "'");
}
}
if (oc.isSet("message-log")) {
try {
OutputDevice *logFile = &OutputDevice::getDevice(oc.getString("message-log"));
getMessageInstance()->addRetriever(logFile);
} catch (IOError &) {
throw ProcessError("Could not build logging file '" + oc.getString("message-log") + "'");
}
}
if (oc.isSet("error-log")) {
try {
OutputDevice *logFile = &OutputDevice::getDevice(oc.getString("error-log"));
getErrorInstance()->addRetriever(logFile);
getWarningInstance()->addRetriever(logFile);
} catch (IOError &) {
throw ProcessError("Could not build logging file '" + oc.getString("error-log") + "'");
}
}
}
