radios_default_actuator.h

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/*
 * @file <argos3/plugins/robots/generic/simulator/radios_default_actuator.h>
 *
 * @author Michael Allwright - <allsey87@gmail.com>
 */
 
#ifndef RADIOS_DEFAULT_ACTUATOR_H
#define RADIOS_DEFAULT_ACTUATOR_H
 
namespace argos {
   class CRadiosDefaultActuator;
}
 
#include <argos3/core/simulator/actuator.h>
#include <argos3/plugins/robots/generic/control_interface/ci_radios_actuator.h>
#include <argos3/plugins/simulator/entities/radio_equipped_entity.h>
#include <argos3/plugins/simulator/media/radio_medium.h>
 
namespace argos {
 
   class CRadiosDefaultActuator : public CSimulatedActuator,
                                  public CCI_RadiosActuator {
 
   public:
 
      CRadiosDefaultActuator();
 
      virtual ~CRadiosDefaultActuator() {}
 
      virtual void SetRobot(CComposableEntity& c_entity);
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void Update();
 
      virtual void Reset();
 
   private:
 
      CRadioEquippedEntity* m_pcRadioEquippedEntity;
 
      class CTxOperation : public CPositionalIndex<CRadioEntity>::COperation {
      public:
 
         CTxOperation(const CRadioEntity& c_tx_radio,
                      const std::vector<CByteArray>& c_tx_data);
 
         virtual bool operator()(CRadioEntity& c_rx_radio);
 
      private:
 
         const CRadioEntity& m_cTxRadio;
         const std::vector<CByteArray>& m_cTxData;
      };
   };
}
 
#endif