statementprocessor.cpp

来自「机器人开源项目orocos的源代码」· C++ 代码 · 共 361 行 · 第 1/2 页

            DataSource<double>* dsd = DataSource<double>::narrow(ds);
            if (dsd) {
                Logger::log() << dsd->get() ;
                return;
            }
            DataSource<char>* dsc = DataSource<char>::narrow(ds);
            if (dsc) {
                Logger::log() <<'\''<< dsc->get()<<'\'' ;
                return;
            }

            DataSource<PropertyBag>* dspbag = DataSource<PropertyBag>::narrow(ds);
            if (dspbag) {
                PropertyBag bag( dspbag->get() );
                if (!recurse) {
                    int siz = bag.getProperties().size();
                    Logger::log()  << siz <<" Properties";
                } else {
                    if ( ! bag.empty() ) {
                        Logger::log()  <<Logger::nl;
                        for( PropertyBag::iterator it= bag.getProperties().begin(); it!=bag.getProperties().end(); ++it) {
                            Logger::log()  <<(*it)->getType()<<" "<< (*it)->getName();
                            DataSourceBase::shared_ptr propds = (*it)->getDataSource();
                            this->printResult( propds.get(), false );
                            Logger::log()  <<" ("<<(*it)->getDescription()<<')' << Logger::nl;
                        }
                    } else {
                        Logger::log()  <<"(empty PropertyBag)";
                    }
                }
                return;
            }

            // Leave void  as last since any DS is convertible to void !
            DataSource<void>* dsvd = DataSource<void>::narrow(ds);
            if (dsvd) {
                dsvd->get();
                Logger::log() << "(void)" ;
                return;
            }

            if (ds) {
                ds->evaluate();
                Logger::log() << "( result type '"+ds->getType()+"' not known to TaskBrowser )" ;
            }
	
        }

    };


    StatementProcessor::StatementProcessor(TaskContext* tc)
        : d ( new D() )
    {
        d->tc = tc;
    }

    StatementProcessor::~StatementProcessor() {
        delete d;
    }
    
    void StatementProcessor::checkFinished() {
        Logger::In in("StatementProcessor");
        d->checkFinished();
    }
    
    DispatchInterface::shared_ptr StatementProcessor::getCommand(int cnr) {
        Logger::In in("StatementProcessor");
        return d->getCommand(cnr);
    }
    
    int StatementProcessor::execute(const std::string& comm)
    {
        Logger::In in("StatementProcessor");

        d->checkFinished();

        TaskContext* taskcontext = d->tc;

        // Minor hack : also check if it was an attribute of current TC, for example, 
        // if both the object and attribute with that name exist. the if
        // statement after this one would return and not give the expr parser
        // time to evaluate 'comm'. 
        if ( taskcontext->attributes()->getValue( comm ) ) {
                d->printResult( taskcontext->attributes()->getValue( comm )->getDataSource().get(), true );
                return 0;
        }
                    
        Parser _parser;
        std::pair< CommandInterface*, ConditionInterface*> comcon;
        DispatchInterface* command;
        ConditionInterface* condition;

        Logger::log() <<Logger::Debug << "Trying ValueChange...";
        try {
            // Check if it was a method or datasource :
            DataSourceBase::shared_ptr ds = _parser.parseValueChange( comm, taskcontext );
            // methods and DS'es are processed immediately.
            if ( ds.get() != 0 ) {
                Logger::log() << "ok" << Logger::endl;
                d->printResult( ds.get(), false );
                return 0; // done here
            } else
                Logger::log() <<Logger::Debug << "no"<<Logger::endl;
        } catch ( fatal_semantic_parse_exception& pe ) { // incorr args, ...
            // way to fatal,  must be reported immediately
            Logger::log() << Logger::Debug << "fatal_semantic_parse_exception: ";
            Logger::log() << Logger::Error << pe.what() <<Logger::nl;
            return -1;
        } catch ( syntactic_parse_exception& pe ) { // wrong content after = sign etc..
            // syntactic errors must be reported immediately
            Logger::log() << Logger::Error << "syntactic_parse_exception: ";
            Logger::log() << Logger::Error << pe.what() <<Logger::nl;
            return -1;
        } catch ( parse_exception_parser_fail &pe )
            {
                // ignore, try next parser
                Logger::log() << Logger::Debug << "Ignoring ValueChange exception :"<<Logger::nl;
                Logger::log() << Logger::Debug << pe.what() <<Logger::nl;
        } catch ( parse_exception& pe ) { 
            // syntactic errors must be reported immediately
            Logger::log() << Logger::Error << "parse_exception :";
            Logger::log() << Logger::Error << pe.what() <<Logger::nl;
            return -1;
        }
        Logger::log() << Logger::Debug << "Trying Expression..."<<Logger::nl;
        try {
            // Check if it was a method or datasource :
            DataSourceBase::shared_ptr ds = _parser.parseExpression( comm, taskcontext );
            // methods and DS'es are processed immediately.
            if ( ds.get() != 0 ) {
                d->printResult( ds.get(), true );
                return 0; // done here
            } else
                Logger::log() << Logger::Error << "returned zero !"<<Logger::nl;
        } catch ( syntactic_parse_exception& pe ) { // missing brace etc
            // syntactic errors must be reported immediately
            Logger::log() << Logger::Error << "syntactic_parse_exception :";
            Logger::log() << Logger::Error << pe.what() <<Logger::nl;
            return -1;
        } catch ( fatal_semantic_parse_exception& pe ) { // incorr args, ...
            // way to fatal,  must be reported immediately
            Logger::log() << Logger::Error << "fatal_semantic_parse_exception :";
            Logger::log() << Logger::Error << pe.what() <<Logger::nl;
            return -1;
        } catch ( parse_exception_parser_fail &pe ) {
                // ignore, try next parser
                Logger::log() << Logger::Debug << "Ignoring Expression exception :"<<Logger::nl;
                Logger::log() << Logger::Debug << pe.what() <<Logger::nl;
        } catch ( parse_exception& pe ) { 
            // ignore, try next parser
            Logger::log() << Logger::Debug << "Ignoring Expression parse_exception :"<<Logger::nl;
            Logger::log() << Logger::Debug << pe.what() <<Logger::nl;
        }
        Logger::log() << Logger::Debug << "Trying Command...";
        try {
            comcon = _parser.parseCommand( comm, taskcontext, true ); // create a dispatch command.
            assert( dynamic_cast<DispatchInterface*>(comcon.first) );
            command = dynamic_cast<DispatchInterface*>(comcon.first);
            condition = comcon.second;
        } catch ( parse_exception& pe ) {
            Logger::log() << Logger::Debug << "CommandParser parse_exception :"<<Logger::nl;
            Logger::log() << Logger::Error << pe.what() <<Logger::nl;
            return -1;
        } catch (...) {
            Logger::log() << Logger::Error << "Illegal Input."<<Logger::nl;
            return -1;
        }
                
        if ( command == 0 ) { // this should not be reached
            Logger::log() << Logger::Error << "Uncaught : Illegal command."<<Logger::nl;
            return -1;
        }

        return d->add( command, condition, comm);
    }
    
}