BaseXMLReader::ProcessElement PlannerBase::PlannerParameters::startElement(const std::string& name, const AttributesList& atts)
{
_ss.str(""); // have to clear the string
if( !!__pcurreader ) {
if( __pcurreader->startElement(name, atts) == PE_Support ) {
return PE_Support;
}
return PE_Ignore;
}
if( __processingtag.size() > 0 ) {
return PE_Ignore;
}
if( name=="plannerparameters" ) {
_plannerparametersdepth++;
return PE_Support;
}
if( name == "_postprocessing" ) {
_sslocal.reset(new std::stringstream());
_sPostProcessingPlanner="";
_sPostProcessingParameters="";
FOREACHC(itatt,atts) {
if( itatt->first == "planner" ) {
_sPostProcessingPlanner = itatt->second;
}
}
__pcurreader.reset(new DummyXMLReader(name,GetXMLId(),_sslocal));
return PE_Support;
}
bool InterfaceBase::SendCommand(ostream& sout, istream& sinput)
{
string cmd;
sinput >> cmd;
if( !sinput ) {
throw openrave_exception("invalid command",ORE_InvalidArguments);
}
boost::shared_ptr<InterfaceCommand> interfacecmd;
{
boost::shared_lock< boost::shared_mutex > lock(_mutexInterface);
CMDMAP::iterator it = __mapCommands.find(cmd);
if( it == __mapCommands.end() ) {
throw openrave_exception(str(boost::format("failed to find command '%s' in interface %s\n")%cmd.c_str()%GetXMLId()),ORE_CommandNotSupported);
}
interfacecmd = it->second;
}
if( !interfacecmd->fn(sout,sinput) ) {
RAVELOG_VERBOSE(str(boost::format("command failed in interface %s: %s\n")%GetXMLId()%cmd));
return false;
}
return true;
}
