public CommandHandle (CommandHandle other)
{
interface_ = other.interface_;
name_ = other.getName ();
field_ = other.getField ();
new_value_ = other.new_value_;
}
public bool enabled (CommandHandle handle)
{
if ( handle == null || !handle.connected () )
return false;
string resource = handle.getName ();
return enabled_.ContainsKey ( resource );
}
public void CopyFrom (CommandHandle other)
{
if ( other == null )
return;
interface_ = other.interface_;
name_ = other.getName ();
field_ = other.getField ();
new_value_ = other.new_value_;
}
public bool preempt (CommandHandle handle)
{
string resource = handle.getName ();
if ( outputs_.ContainsKey ( resource ) )
{
CommandHandle output = outputs_ [ resource ];
if ( output != null )
{
output.setPreempted ();
return true;
}
}
return false;
}
public void disconnect (CommandHandle handle)
{
if ( handle == null )
return;
string resource = handle.getName ();
if ( inputs_.ContainsKey ( resource ) )
{
CommandHandle input = inputs_ [ resource ];
if ( (CommandHandle) input.get () != handle )
input.reset ();
}
if ( outputs_.ContainsKey ( resource ) )
{
CommandHandle output = outputs_ [ resource ];
if ( (CommandHandle) output.get () != handle )
output.reset ();
}
}
public bool stop (CommandHandle handle)
{
if ( handle == null )
return false;
string resource = handle.getName ();
if ( enabled_.ContainsKey ( resource ) )
{
if ( enabled_ [ resource ] == handle )
{
enabled_.Remove ( resource );
ROS.Info ( "quadrotor_interface", "Disabled %s control", resource );
return true;
}
}
return false;
}
public bool start (CommandHandle handle)
{
if ( handle == null || !handle.connected () )
return false;
string resource = handle.getName ();
if ( enabled_.ContainsKey ( resource ) )
{
if ( enabled_ [ resource ] == handle )
return true;
} else
{
enabled_.Add ( resource, handle );
ROS.Info ( "quadrotor_interface", "Enabled %s output", resource );
return true;
}
return false;
}