Behavior.cpp

/*
This file is part of the PubSubsumption library, an implementation of the Subsumption
Architecture based upon a simple Publisher/Subscriber mechanism.

Copyright (C) 2014 Terry Crook

Written by Terry Crook in collaboration with Clayton Dean, and based upon the
Subsumption Architecture as described by David P. Anderson.
*/

#include "Behavior.h"


Behavior::Behavior( CommandDispatcher* pCD ) : CommandSubscriber( pCD ), _bEnabled( true ), _bCanBeDisabled(true), _messageMask( 1 )
{

}


void Behavior::SubscribeTo( Publisher* pPub, uint8_t eventID /* = 0 */ )
{
    if ( pPub ) {
        // subscribing to Director
        if ( eventID == 0 ) {
            _pNextBehavior = pPub->Subscribe( static_cast<Subscriber*> (this), eventID );
        }
        else {  // subscribing to CommandDispatcher
            // if necessary, we could keep a "next" pointer for each eventID,
            // but it should not be necessary in this case
            _pNextSub = pPub->Subscribe( static_cast<CommandSubscriber*> (this), eventID );
        }
    }
}


// For a Behavior, there are two kinds of events:  Control events from the Director, or
// Command events from the Dispatcher.  Here, we distinguish between the two and
// route them accordingly.  Also, we handle the common sub-commands.
Subscriber* Behavior::HandleEvent( EventNotification* pEvent ) 
{
    Subscriber* pReturnSub = NULL;

    if ( pEvent->eventID == 0 ) {   // Subsumption (Director) event
        if ( _messageMask & MM_ID ) {
            Serial.print( _bEnabled ? '+' : '-' ); Serial.println( _pName );
        }

        handleSubsumptionEvent( pEvent, (SubsumptionParams*) pEvent->pData );
        pReturnSub = _pNextBehavior;
    }
    else {  // CommandDispatcher event
        // since all Behaviors have some common functionality, we can handle the common stuff here
        pReturnSub = _pNextSub;

        CommandArgs* pArgs = (CommandArgs*) pEvent->pData;
        switch ( pArgs->inputBuffer[1] ) {
            case '?' :
                PrintHelp();
                break;
            case '0' : 
                if ( _bCanBeDisabled ) {
                    _bEnabled = false; 
                    IF_MASK( MM_RESPONSES ) {
                        Serial.print( _pName );
                        Serial.println( F( " disabled." ) );
                    }
                }
                break;
            case '1' : 
                if ( _bCanBeDisabled ) {
                    _bEnabled = true; 
                    IF_MASK( MM_RESPONSES ) {
                        Serial.print( _pName );
                        Serial.println( F( " enabled." ) );
                    }
                }
                break;
            case 'Q' :
                PrintParameterValues();
                break;
            case 'V' :
                switch ( pArgs->inputBuffer[2] ) {
                    case 0 : // no command modifier, just set the value
                        _messageMask = pArgs->nParams[ 0 ]; 
                        break;
                    case '+' : // add these bits
                        _messageMask |= pArgs->nParams[ 0 ];
                        break;
                    case '-' : // remove these bits
                        _messageMask &= ~pArgs->nParams[ 0 ];
                        break;
                }
                Serial.print( _pName );
                Serial.print( F( " message mask:\t0x" ) ) ;
                Serial.println( _messageMask, HEX );
                break;
            default: 
				// not a common Behavior command, pass to the specific Behavior
                handleCommandEvent( pEvent, pArgs ); 
                break;
        }
    }
    return pReturnSub;
}

void Behavior::PrintHelp()
{
    Serial.print( "\n========\n" );
    PrintParameterValues();
    Serial.println("\n- - -\n");
    Serial.print( _pName );
    Serial.println( " options:\n" );
    if ( _bCanBeDisabled )
    {
        Serial.println( F( "  0: Disable" ) );
        Serial.println( F( "  1: Enable" ) );
    }
    Serial.println( F( "  Q: Query Parameter Values" ) );
    Serial.println( F( "  V[+|-] <mask> : Set verbosity mask, or add/remove bits" ) );
    Serial.println( _pHelpString );
}


void Behavior::PrintParameterValues()
{
    Serial.print( _pName );
    Serial.print( ": " );
    Serial.print( _bEnabled ? F( "Enabled" ) : F( "Disabled" ) );
    Serial.print( F( ", verbosity = 0x" ) );
    Serial.println( _messageMask, HEX );
    PrintSpecificParameterValues();
}


void Behavior::PrintSpecificParameterValues()
{
    Serial.print( F( " No parameter query defined for " ) );
    Serial.println( _pName );
}