led_equipped_entity.h

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#ifndef LED_EQUIPPED_ENTITY_H
#define LED_EQUIPPED_ENTITY_H

namespace argos {
   class CLEDEquippedEntity;
   class CLEDEntity;
}

#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/plugins/simulator/entities/led_entity.h>
#include <map>

namespace argos {

   class CLEDEquippedEntity : public CComposableEntity {

   public:

      ENABLE_VTABLE();

      typedef std::map<std::string, CLEDEquippedEntity*> TMap;

   public:

      struct SActuator {
         typedef std::vector<SActuator*> TList;

         CLEDEntity& LED;
         CVector3 Offset;
         SAnchor& Anchor;

         SActuator(CLEDEntity& c_led,
                   const CVector3& c_offset,
                   SAnchor& s_anchor);
      };

   public:

      CLEDEquippedEntity(CComposableEntity* pc_parent);

      CLEDEquippedEntity(CComposableEntity* pc_parent,
                         const std::string& str_id);

      ~CLEDEquippedEntity();

      virtual void Init(TConfigurationNode& t_tree);

      virtual void Reset();

      virtual void Enable();

      virtual void Disable();

      void AddLED(const CVector3& c_offset,
                  SAnchor& s_anchor,
                  const CColor& c_color = CColor::BLACK);

      void AddLEDRing(const CVector3& c_center,
                      Real f_radius,
                      const CRadians& c_start_angle,
                      UInt32 un_num_leds,
                      SAnchor& s_anchor,
                      const CColor& c_color = CColor::BLACK);

      CLEDEntity& GetLED(UInt32 un_index);

      inline SActuator::TList& GetLEDs() {
         return m_tLEDs;
      }

      inline const CVector3& GetLEDOffset(size_t un_idx) const {
         ARGOS_ASSERT(un_idx < m_tLEDs.size(),
                      "CLEDEquippedEntity::GetLEDOffset() : index " <<
                      un_idx <<
                      " out of bounds [0:" <<
                      m_tLEDs.size()-1 <<
                      "]" );
         return m_tLEDs[un_idx]->Offset;
      }

      void SetLEDOffset(UInt32 un_index,
                        const CVector3& c_offset);

      void SetLEDColor(UInt32 un_index,
                       const CColor& c_color);

      void SetAllLEDsColors(const CColor& c_color);

      void SetAllLEDsColors(const std::vector<CColor>& vec_colors);

      void SetMedium(CLEDMedium& c_medium);

      virtual std::string GetTypeDescription() const {
         return "leds";
      }

   protected:

      virtual void UpdateComponents();

   protected:

      SActuator::TList m_tLEDs;
   };

}

#endif