tags_default_actuator.cpp
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1 
7 #include "tags_default_actuator.h"
8 #include <argos3/core/simulator/simulator.h>
9 #include <argos3/plugins/simulator/media/tag_medium.h>
10 
11 namespace argos {
12 
13  /****************************************/
14  /****************************************/
15 
16  CTagsDefaultActuator::CTagsDefaultActuator() :
17  m_pcTagEquippedEntity(nullptr) {}
18 
19  /****************************************/
20  /****************************************/
21 
22  void CTagsDefaultActuator::SetRobot(CComposableEntity& c_entity) {
23  m_pcTagEquippedEntity =
24  &(c_entity.GetComponent<CTagEquippedEntity>("tags"));
25  m_tSettings.resize(m_pcTagEquippedEntity->GetInstances().size());
26  }
27 
28  /****************************************/
29  /****************************************/
30 
31  void CTagsDefaultActuator::Init(TConfigurationNode& t_tree) {
32  try {
33  CCI_TagsActuator::Init(t_tree);
34  }
35  catch(CARGoSException& ex) {
36  THROW_ARGOSEXCEPTION_NESTED("Error initializing the tags default actuator", ex);
37  }
38  }
39 
40  /****************************************/
41  /****************************************/
42 
43  void CTagsDefaultActuator::Update() {
44  m_pcTagEquippedEntity->SetTagPayloads(m_tSettings);
45  }
46 
47  /****************************************/
48  /****************************************/
49 
50  void CTagsDefaultActuator::Reset() {
51  SetAllPayloads("");
52  }
53 
54  /****************************************/
55  /****************************************/
56 
57  REGISTER_ACTUATOR(CTagsDefaultActuator,
58  "tags", "default",
59  "Michael Allwright [allsey87@gmail.com]",
60  "1.0",
61  "The tags actuator.",
62 
63  "This actuator controls the payloads of a group of tags. The idea"
64  "is to represent an LCD screen that displays different tags. For a"
65  "complete description of its usage, refer to the ci_tags_actuator.h"
66  " file.\n\n"
67 
68  "REQUIRED XML CONFIGURATION\n\n"
69 
70  " <controllers>\n"
71  " ...\n"
72  " <my_controller ...>\n"
73  " ...\n"
74  " <actuators>\n"
75  " ...\n"
76  " <tags implementation=\"default\" />\n"
77  " ...\n"
78  " </actuators>\n"
79  " ...\n"
80  " </my_controller>\n"
81  " ...\n"
82  " </controllers>\n\n"
83 
84  "OPTIONAL XML CONFIGURATION\n\n"
85 
86  "None.\n",
87 
88  "Usable"
89  );
90 
91  /****************************************/
92  /****************************************/
93 
94 }
THROW_ARGOSEXCEPTION_NESTED
#define THROW_ARGOSEXCEPTION_NESTED(message, nested)
This macro throws an ARGoS exception with the passed message and nesting the passed exception.
Definition: argos_exception.h:115
argos
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
argos::TConfigurationNode
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
Definition: argos_configuration.h:27
argos::REGISTER_ACTUATOR
REGISTER_ACTUATOR(CFootBotDistanceScannerDefaultActuator, "footbot_distance_scanner", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The foot-bot distance scanner actuator.", "This actuator controls the foot-bot distance scanner. For a complete\n" "description of its usage, refer to the ci_footbot_distance_scanner_actuator\n" "file.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <actuators>\n" " ...\n" " <footbot_distance_scanner implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being.\n", "Usable")
argos::CCI_Actuator::Init
virtual void Init(TConfigurationNode &t_node)
Initializes the actuator from the XML configuration tree.
Definition: ci_actuator.h:54
argos::CComposableEntity
Basic class for an entity that contains other entities.
Definition: composable_entity.h:32
argos::CComposableEntity::GetComponent
CEntity & GetComponent(const std::string &str_component)
Returns the component with the passed string label.
Definition: composable_entity.cpp:109
argos::CARGoSException
The exception that wraps all errors in ARGoS.
Definition: argos_exception.h:61
argos::CCI_TagsActuator::SetAllPayloads
virtual void SetAllPayloads(const std::string &str_payload)
Sets all the tags with the same payload.
Definition: ci_tags_actuator.cpp:82
argos::CTagsDefaultActuator::Init
virtual void Init(TConfigurationNode &t_tree)
Initializes the actuator from the XML configuration tree.
Definition: tags_default_actuator.cpp:31
argos::CTagsDefaultActuator::SetRobot
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
Definition: tags_default_actuator.cpp:22
argos::CTagsDefaultActuator::Update
virtual void Update()
Updates the state of the entity associated to this actuator.
Definition: tags_default_actuator.cpp:43
argos::CTagsDefaultActuator::Reset
virtual void Reset()
Resets the actuator to the state it had just after Init().
Definition: tags_default_actuator.cpp:50
argos::CTagEquippedEntity
A container of CTagEntity.
Definition: tag_equipped_entity.h:30
argos::CTagEquippedEntity::GetInstances
SInstance::TVector & GetInstances()
Returns the tags.
Definition: tag_equipped_entity.h:107
argos::CTagEquippedEntity::SetTagPayloads
void SetTagPayloads(const std::string &str_payload)
Sets the payload of all the tags to the given payload.
Definition: tag_equipped_entity.cpp:174