led_medium.cpp
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1 #include "led_medium.h"
2 #include <argos3/core/simulator/simulator.h>
3 #include <argos3/core/simulator/space/space.h>
4 #include <argos3/core/simulator/space/positional_indices/grid.h>
5 #include <argos3/core/utility/configuration/argos_exception.h>
6 #include <argos3/core/utility/logging/argos_log.h>
7 
8 namespace argos {
9 
10  /****************************************/
11  /****************************************/
12 
14  }
15 
16  /****************************************/
17  /****************************************/
18 
20  }
21 
22  /****************************************/
23  /****************************************/
24 
26  try {
27  CMedium::Init(t_tree);
28  /* Get the positional index method */
29  std::string strPosIndexMethod("grid");
30  GetNodeAttributeOrDefault(t_tree, "index", strPosIndexMethod, strPosIndexMethod);
31  /* Get the arena center and size */
32  CVector3 cArenaCenter;
33  CVector3 cArenaSize;
34  TConfigurationNode& tArena = GetNode(CSimulator::GetInstance().GetConfigurationRoot(), "arena");
35  GetNodeAttribute(tArena, "size", cArenaSize);
36  GetNodeAttributeOrDefault(tArena, "center", cArenaCenter, cArenaCenter);
37  /* Create the positional index for LED entities */
38  if(strPosIndexMethod == "grid") {
39  size_t punGridSize[3];
40  if(!NodeAttributeExists(t_tree, "grid_size")) {
41  punGridSize[0] = static_cast<UInt32>(cArenaSize.GetX());
42  punGridSize[1] = static_cast<UInt32>(cArenaSize.GetY());
43  punGridSize[2] = static_cast<UInt32>(cArenaSize.GetZ());
44  }
45  else {
46  std::string strPosGridSize;
47  GetNodeAttribute(t_tree, "grid_size", strPosGridSize);
48  ParseValues<size_t>(strPosGridSize, 3, punGridSize, ',');
49  }
51  cArenaCenter - cArenaSize * 0.5f, cArenaCenter + cArenaSize * 0.5f,
52  punGridSize[0], punGridSize[1], punGridSize[2]);
53  m_pcLEDEntityGridUpdateOperation = new CLEDEntityGridUpdater(*pcGrid);
54  pcGrid->SetUpdateEntityOperation(m_pcLEDEntityGridUpdateOperation);
55  m_pcLEDEntityIndex = pcGrid;
56  }
57  else {
58  THROW_ARGOSEXCEPTION("Unknown method \"" << strPosIndexMethod << "\" for the positional index.");
59  }
60  }
61  catch(CARGoSException& ex) {
62  THROW_ARGOSEXCEPTION_NESTED("Error in initialization of the LED medium", ex);
63  }
64  }
65 
66  /****************************************/
67  /****************************************/
68 
70  Update();
71  }
72 
73  /****************************************/
74  /****************************************/
75 
77  m_pcLEDEntityIndex->Reset();
78  }
79 
80  /****************************************/
81  /****************************************/
82 
84  delete m_pcLEDEntityIndex;
85  if(m_pcLEDEntityGridUpdateOperation != nullptr) {
86  delete m_pcLEDEntityGridUpdateOperation;
87  }
88  }
89 
90  /****************************************/
91  /****************************************/
92 
94  m_pcLEDEntityIndex->Update();
95  }
96 
97  /****************************************/
98  /****************************************/
99 
101  m_pcLEDEntityIndex->AddEntity(c_entity);
102  m_pcLEDEntityIndex->Update();
103  }
104 
105  /****************************************/
106  /****************************************/
107 
109  m_pcLEDEntityIndex->RemoveEntity(c_entity);
110  m_pcLEDEntityIndex->Update();
111  }
112 
113  /****************************************/
114  /****************************************/
115 
117  "led",
118  "Carlo Pinciroli [ilpincy@gmail.com]",
119  "1.0",
120  "Manages the LEDs.",
121  "This medium is required to manage the LED entities, thus allowing the\n"
122  "associated camera sensors to work properly. If you intend to use a camera\n"
123  "sensor that detects colored blobs, you must add this medium to the XML\n"
124  "configuration file.\n\n"
125  "REQUIRED XML CONFIGURATION\n\n"
126  "<led id=\"led\" />\n\n"
127  "OPTIONAL XML CONFIGURATION\n\n"
128  "None for the time being\n",
129  "Under development"
130  );
131 
132  /****************************************/
133  /****************************************/
134 
135 }
#define THROW_ARGOSEXCEPTION_NESTED(message, nested)
This macro throws an ARGoS exception with the passed message and nesting the passed exception.
#define THROW_ARGOSEXCEPTION(message)
This macro throws an ARGoS exception with the passed message.
unsigned int UInt32
32-bit unsigned integer.
Definition: datatypes.h:97
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
REGISTER_MEDIUM(CDirectionalLEDMedium, "directional_led", "Michael Allwright [allsey87@gmail.com]", "1.0", "Manages directional LED entities.", "This medium is required to manage the directional LED entities, so that\n" "the associated camera sensors can find them. If you use a camera sensor,\n" "you must add this medium the sensors XML configuration.\n\n" "REQUIRED XML CONFIGURATION\n\n" "<directional_led id=\"led\" />\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being\n", "Under development")
TConfigurationNode & GetNode(TConfigurationNode &t_node, const std::string &str_tag)
Given a tree root node, returns the first of its child nodes with the wanted name.
bool NodeAttributeExists(TConfigurationNode &t_node, const std::string &str_attribute)
Returns true if the specified attribute of a node exists.
void GetNodeAttributeOrDefault(TConfigurationNode &t_node, const std::string &str_attribute, T &t_buffer, const T &t_default)
Returns the value of a node's attribute, or the passed default value.
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
void GetNodeAttribute(TConfigurationNode &t_node, const std::string &str_attribute, T &t_buffer)
Returns the value of a node's attribute.
virtual void Init(TConfigurationNode &t_tree)
Initialized the medium.
Definition: medium.cpp:16
static CSimulator & GetInstance()
Returns the instance to the CSimulator class.
Definition: simulator.cpp:78
void SetUpdateEntityOperation(CEntityOperation *pc_operation)
Definition: grid_impl.h:907
The exception that wraps all errors in ARGoS.
A 3D vector class.
Definition: vector3.h:31
Real GetX() const
Returns the x coordinate of this vector.
Definition: vector3.h:105
Real GetY() const
Returns the y coordinate of this vector.
Definition: vector3.h:121
Real GetZ() const
Returns the z coordinate of this vector.
Definition: vector3.h:137
virtual void Reset()
Resets the resource.
Definition: led_medium.cpp:76
virtual ~CLEDMedium()
Class destructor.
Definition: led_medium.cpp:19
virtual void Init(TConfigurationNode &t_tree)
Initialized the medium.
Definition: led_medium.cpp:25
virtual void Update()
Updates the state of this medium.
Definition: led_medium.cpp:93
virtual void PostSpaceInit()
Executes extra initialization activities after the space has been initialized.
Definition: led_medium.cpp:69
void RemoveEntity(CLEDEntity &c_entity)
Removes the specified entity from the list of managed entities.
Definition: led_medium.cpp:108
CLEDMedium()
Class constructor.
Definition: led_medium.cpp:13
void AddEntity(CLEDEntity &c_entity)
Adds the specified entity to the list of managed entities.
Definition: led_medium.cpp:100
virtual void Destroy()
Undoes whatever was done by Init().
Definition: led_medium.cpp:83