bool PNPActionServer::EvalConditionWrapper(pnp_msgs::PNPCondition::Request &req,
pnp_msgs::PNPCondition::Response &res) {
//cout << "EvalConditionWrapper started " << endl;
int r0 = -1;
// This is necessary because multiple calls to the same condition can happen
if (ConditionCache.find(req.cond) != ConditionCache.end()) {
r0 = ConditionCache[req.cond];
}
int r1 = evalCondition(req.cond);
int r2 = check_for_event(req.cond);
//cout << "EvalConditionWrapper " << req.cond << " : cache / eval / check " << r0 << " " << r1 << " " << r2 ;
int result=-1;
if (r0!=-1) result=r0;
else if (r1!=-1) result=r1;
else result=r2;
//TODO implement unknown value of a condition in PNP
if (result==-1) result=0;
//cout << " RESULT = " << result << endl;
ConditionCache[req.cond] = result;
res.truth_value = result;
return true;
}
/**
* \brief check and dispatch next event on given waitset
*
* Check if there is any pending activity on some channel, or deferred
* call, and then call the corresponding closure.
*
* Do not wait! In case of no pending events, return err LIB_ERR_NO_EVENT.
*
* \param ws Waitset
*/
errval_t event_dispatch_non_block(struct waitset *ws)
{
struct event_closure closure;
errval_t err = check_for_event(ws, &closure);
if (err_is_fail(err)) {
return err;
}
assert(closure.handler != NULL);
closure.handler(closure.arg);
return SYS_ERR_OK;
}
static void
master_process_reqs(void)
{
/* process slave requests */
for (;;) {
struct event_closure closure;
errval_t ret;
ret = check_for_event(get_default_waitset(), &closure);
if (ret == LIB_ERR_NO_EVENT)
break;
assert(err_is_ok(ret));
assert(closure.handler != NULL);
//printf(RED("-------- GOT A MASTER EVENT handler=%p arg=%p"), closure.handler, closure.arg);
closure.handler(closure.arg);
}
}
