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Supervisor.cpp
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Wed, May 8, 07:06

Supervisor.cpp
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/*
* Supervisor.cpp
*
* Created on: Jan 21, 2013
* Author: tuleu
*/
#include "Supervisor.h"
#include <liboncilla/utils/OncillaBackend.h>
#include "Oncilla.h"
namespace rci {
namespace oncilla {
Supervisor::Supervisor(OncillaBackend & backend)
: d_l4s(4,SupervisorL4::Ptr())
, d_trunk()
, d_world(){
d_l4s.resize(4);
d_l4Errors.resize(4);
LIBONCILLA_FOREACH_LEG(l) {
SupervisorL4::Ptr res;
try {
res = backend.CreateSupervisorL4(l,
Oncilla::nameOfLeg(l) + " Oncilla Supervised L4");
} catch(const std::exception & e) {
res = SupervisorL4::Ptr();
d_l4Errors[l] = RuntimeErrPtr(new std::runtime_error(e.what()));
}
if(!res) {
d_l4Errors[l] = RuntimeErrPtr(new std::runtime_error("Backend did not create " + Oncilla::nameOfLeg(l) + " SupervisorL4 node nor throw exception."));
}
d_l4s[l] = res;
if(Oncilla::willThrowOnInitialization() && d_l4Errors[l]) {
throw *(d_l4Errors[l]);
}
}
try {
d_trunk = backend.CreateSupervisorTrunk();
} catch(const std::exception & e) {
d_trunk = SupervisorTrunk::Ptr();
d_trunkError = RuntimeErrPtr(new std::runtime_error(e.what()));
}
if(!d_trunk) {
d_trunkError = RuntimeErrPtr(new std::runtime_error("Backend did not created SupervisorTrunk node nor throw exception."));
}
try{
d_world = backend.CreateSupervisorWorld();
} catch (const std::exception & e) {
d_world = SupervisorWorld::Ptr();
d_worldError = RuntimeErrPtr(new std::runtime_error(e.what()));
}
if (!d_world ) {
d_worldError = RuntimeErrPtr(new std::runtime_error("Backend did not created SupervisorWorld node nor throw exception."));
}
if(!Oncilla::willThrowOnInitialization()) {
return;
}
if(d_trunkError) {
throw *d_trunkError;
}
if(d_worldError) {
throw *d_worldError;
}
}
Supervisor::~Supervisor(){
}
const SupervisorTrunk::Ptr & Supervisor::getTrunk(){
if (!d_trunk) {
throw *d_trunkError;
}
return d_trunk;
}
const SupervisorL4::Ptr & Supervisor::getL4(Leg l){
if (l >= NUM_LEGS){
std::ostringstream os;
os << "Leg " << l << "is out of range [0 3].";
throw std::out_of_range(os.str());
}
if(!d_l4s[l]) {
throw *(d_l4Errors[l]);
}
return d_l4s[l];
}
const SupervisorWorld::Ptr & Supervisor::getWorld(){
if(!d_world){
throw * d_worldError;
}
return d_world;
}
} /* namespace oncilla */
} /* namespace rci */

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