Agent::Agent( std::string name, KSystem::ThreadConfig cfg, int stats, MessageHub& com, std::vector<std::string> activities ) :
PeriodicThread(cfg),
_statsCycle(stats),
_name(name),
_com(com),
_blk(name),
_executions(0)
{
#ifdef NAOQI
_xml = XmlManager(ArchConfig::Instance().GetConfigPrefix(), KRobotConfig::Instance().getConfig(KDeviceLists::Interpret::HEAD_ID)
, KRobotConfig::Instance().getConfig(KDeviceLists::Interpret::BODY_ID), false);
#else
_xml = XmlManager(ArchConfig::Instance().GetConfigPrefix(), "hi", "bi", false);
#endif
_blk.attachTo(com);
for ( ActivityNameList::const_iterator it = activities.begin(); it != activities.end(); it++ )
//_activities.push_back( ActivityFactory::Instance()->CreateObject( (*it),_blk ) );
_activities.push_back( ActivityFactory::Instance()->CreateObject( (*it), _blk, _xml ) );
for ( ActivList::iterator it = _activities.begin(); it != _activities.end(); ++it )
(*it)->UserInit();
_blk.updateSubscription("external", msgentry::SUBSCRIBE_ON_TOPIC);
};
Statechart::Statechart ( std::string name, MessageHub* com )
: OrState ( name, 0 ), _blackboard("StatechartBlakboard"), notified(false) //FIXME
{
_com = com;
_blk = &_blackboard;
_xml = &_xmlnode;
_isRunning = new volatile int; //FIXME mem leak
*_isRunning = 0;
_blk->attachTo(*_com);
#ifdef NAOQI
_xmlnode = XmlManager(ArchConfig::Instance().GetConfigPrefix(), KRobotConfig::Instance().getConfig(KDeviceLists::Interpret::HEAD_ID)
, KRobotConfig::Instance().getConfig(KDeviceLists::Interpret::BODY_ID),false);
#else
_xmlnode = XmlManager(ArchConfig::Instance().GetConfigPrefix(), "hi", "bi",false);
#endif
}
