SystemCallCos.cpp

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#ifndef _MADARA_NO_KARL_
 
#include <math.h>
 
#include "madara/expression/LeafNode.h"
#include "madara/expression/SystemCallCos.h"
#include "madara/knowledge/ThreadSafeContext.h"
#include "madara/expression/Visitor.h"
 
madara::expression::SystemCallCos::SystemCallCos(
    madara::knowledge::ThreadSafeContext& context, const ComponentNodes& nodes)
  : SystemCallNode(context, nodes)
{
}
 
// Dtor
madara::expression::SystemCallCos::~SystemCallCos(void) {}
 
madara::knowledge::KnowledgeRecord madara::expression::SystemCallCos::item(
    void) const
{
  return madara::knowledge::KnowledgeRecord(nodes_.size());
}
 
madara::knowledge::KnowledgeRecord madara::expression::SystemCallCos::prune(
    bool& can_change)
{
  madara::knowledge::KnowledgeRecord result;
 
  if (nodes_.size() == 1)
  {
    bool arg_can_change = false;
    result = knowledge::KnowledgeRecord(
        cos(nodes_[0]->prune(arg_can_change).to_double()));
 
    if (!arg_can_change && dynamic_cast<LeafNode*>(nodes_[0]) == 0)
    {
      delete nodes_[0];
      nodes_[0] = new LeafNode(*(this->logger_), result);
    }
 
    can_change = can_change || arg_can_change;
  }
  else
  {
    madara_logger_ptr_log(logger_, logger::LOG_ERROR,
        "madara::expression::SystemCallCos: "
        "KARL COMPILE ERROR:"
        "System call cos requires 1 argument,"
        " e.g., #cos (1.5), where 1.5 is radians\n");
 
    throw exceptions::KarlException(
        "madara::expression::SystemCallCos: "
        "KARL COMPILE ERROR: "
        "System call cos requires 1 argument,"
        " e.g., #cos (1.5), where 1.5 is radians\n");
  }
 
  return result;
}
 
madara::knowledge::KnowledgeRecord madara::expression::SystemCallCos::evaluate(
    const madara::knowledge::KnowledgeUpdateSettings& settings)
{
  knowledge::KnowledgeRecord return_value;
 
  if (nodes_.size() == 1)
  {
    madara_logger_ptr_log(logger_, logger::LOG_MINOR,
        "madara::expression::SystemCallCos: "
        "System call cos is returning the cosine "
        "of its first argument\n");
 
    return_value = knowledge::KnowledgeRecord(
        cos(nodes_[0]->evaluate(settings).to_double()));
  }
  else
  {
    madara_logger_ptr_log(logger_, logger::LOG_ERROR,
        "madara::expression::SystemCallCos: "
        "KARL RUNTIME ERROR:"
        "System call cos requires 1 argument,"
        " e.g., #cos (1.5), where 1.5 is radians\n");
 
    throw exceptions::KarlException(
        "madara::expression::SystemCallCos: "
        "KARL RUNTIME ERROR: "
        "System call cos requires 1 argument,"
        " e.g., #cos (1.5), where 1.5 is radians\n");
  }
 
  return return_value;
}
 
// accept a visitor
void madara::expression::SystemCallCos::accept(
    madara::expression::Visitor& visitor) const
{
  visitor.visit(*this);
}
 
#endif  // _MADARA_NO_KARL_