ci_controller.h

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#ifndef CCI_CONTROLLER_H
#define CCI_CONTROLLER_H
 
namespace argos {
   class CCI_Controller;
}
 
#include <argos3/core/utility/configuration/base_configurable_resource.h>
#include <argos3/core/utility/datatypes/datatypes.h>
#include <argos3/core/control_interface/ci_sensor.h>
#include <argos3/core/control_interface/ci_actuator.h>
#include <argos3/core/utility/plugins/factory.h>
 
#include <map>
#include <string>
#include <cxxabi.h>
#include <typeinfo>
 
namespace argos {
 
   class CCI_Controller : public CBaseConfigurableResource {
 
   public:
 
      virtual ~CCI_Controller();
 
      virtual void Init(TConfigurationNode& t_node) {}
 
      virtual void ControlStep() {}
 
      virtual void Reset() {}
 
      virtual void Destroy() {}
 
      inline const std::string& GetId() const {
         return m_strId;
      }
 
      inline void SetId(const std::string& str_id) {
         m_strId = str_id;
      }
 
      template<typename ACTUATOR_IMPL>
      ACTUATOR_IMPL* GetActuator(const std::string& str_actuator_type) {
         CCI_Actuator::TMap::const_iterator it = m_mapActuators.find(str_actuator_type);
         if (it != m_mapActuators.end()) {
            ACTUATOR_IMPL* pcActuator = dynamic_cast<ACTUATOR_IMPL*>(it->second);
            if(pcActuator != NULL) {
               return pcActuator;
            }
            else {
               char* pchDemangledType = abi::__cxa_demangle(typeid(ACTUATOR_IMPL).name(), NULL, NULL, NULL);
               THROW_ARGOSEXCEPTION("Actuator type " << str_actuator_type << " cannot be cast to type " << pchDemangledType);
            }
         }
         else {
            THROW_ARGOSEXCEPTION("Unknown actuator type " << str_actuator_type << " requested in controller. Did you add it to the XML file?");
         }
      }
 
      template<typename SENSOR_IMPL>
      SENSOR_IMPL* GetSensor(const std::string& str_sensor_type) {
         CCI_Sensor::TMap::const_iterator it = m_mapSensors.find(str_sensor_type);
         if (it != m_mapSensors.end()) {
            SENSOR_IMPL* pcSensor = dynamic_cast<SENSOR_IMPL*>(it->second);
            if(pcSensor != NULL) {
               return pcSensor;
            }
            else {
               char* pchDemangledType = abi::__cxa_demangle(typeid(SENSOR_IMPL).name(), NULL, NULL, NULL);
               THROW_ARGOSEXCEPTION("Sensor type " << str_sensor_type << " cannot be cast to type " << pchDemangledType);
            }
         }
         else {
            THROW_ARGOSEXCEPTION("Unknown sensor type " << str_sensor_type << " requested in controller. Did you add it to the XML file?");
         }
      }
 
      bool HasActuator(const std::string& str_actuator_type) const;
 
      bool HasSensor(const std::string& str_sensor_type) const;
 
      inline CCI_Actuator::TMap& GetAllActuators() {
          return m_mapActuators;
      }
 
      inline CCI_Sensor::TMap& GetAllSensors() {
          return m_mapSensors;
      }
 
      inline void AddActuator(const std::string& str_actuator_type,
                              CCI_Actuator* pc_actuator) {
         m_mapActuators[str_actuator_type] = pc_actuator;
      }
 
      inline void AddSensor(const std::string& str_sensor_type,
                            CCI_Sensor* pc_sensor) {
         m_mapSensors[str_sensor_type] = pc_sensor;
      }
 
   protected:
 
      CCI_Actuator::TMap m_mapActuators;
 
      CCI_Sensor::TMap m_mapSensors;
 
      std::string m_strId;
 
   };
 
}
 
#ifdef ARGOS_DYNAMIC_LIBRARY_LOADING
 
#define REGISTER_CONTROLLER(CLASSNAME, LABEL) \
   REGISTER_SYMBOL(CCI_Controller,            \
                   CLASSNAME,                 \
                   LABEL,                     \
                   "undefined",               \
                   "undefined",               \
                   "undefined",               \
                   "undefined",               \
                   "undefined")
 
#else
 
extern "C" {
   extern argos::CCI_Controller* ControllerMaker(const std::string& str_label);
}
 
#define REGISTER_CONTROLLER(CLASSNAME, LABEL)                           \
   extern "C" {                                                         \
      argos::CCI_Controller* ControllerMaker(const std::string& str_label) { \
         if(str_label != LABEL) {                                       \
            THROW_ARGOSEXCEPTION("Controller label \"" <<               \
                                 str_label <<                           \
                                 "\" does not match the registered one: \"" << \
                                 LABEL << "\"");                        \
         }                                                              \
         return new CLASSNAME;                                          \
      }                                                                 \
   }
 
#endif
 
#endif