Revision: 7747
http://playerstage.svn.sourceforge.net/playerstage/?rev=7747&view=rev
Author: robotos
Date: 2009-05-30 09:37:34 +0000 (Sat, 30 May 2009)
Log Message:
-----------
new GetIface method in Controller.
Each controller was finding its ifaces in a different way, some refering to [0]
which is unsafe, others iterating, etc
Now is unified and code size is reduced
Modified Paths:
--------------
code/gazebo/trunk/server/controllers/Controller.cc
code/gazebo/trunk/server/controllers/Controller.hh
code/gazebo/trunk/server/controllers/actarray/bandit/Bandit_Actarray.cc
code/gazebo/trunk/server/controllers/actarray/generic/Generic_Actarray.cc
code/gazebo/trunk/server/controllers/audio/Audio.cc
code/gazebo/trunk/server/controllers/bumper/generic/Generic_Bumper.cc
code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
code/gazebo/trunk/server/controllers/imu/Generic_Imu.cc
code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
code/gazebo/trunk/server/controllers/opaque/CMakeLists.txt
code/gazebo/trunk/server/controllers/opaque/jointforce/JointForce.cc
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
code/gazebo/trunk/server/controllers/position2d/holonome3sw/Holonome3Sw_Position2d.cc
code/gazebo/trunk/server/controllers/position2d/steering/Steering_Position2d.cc
code/gazebo/trunk/server/controllers/ptz/generic/Generic_PTZ.cc
Modified: code/gazebo/trunk/server/controllers/Controller.cc
===================================================================
--- code/gazebo/trunk/server/controllers/Controller.cc 2009-05-30 05:43:06 UTC
(rev 7746)
+++ code/gazebo/trunk/server/controllers/Controller.cc 2009-05-30 09:37:34 UTC
(rev 7747)
@@ -103,9 +103,6 @@
// Get the name of the iface
std::string ifaceName = childNode->GetString("name","",1);
- this->ifaceTypes.push_back(ifaceType);
- this->ifaceNames.push_back(ifaceName);
-
try
{
// Use the factory to get a new iface based on the type
@@ -155,19 +152,16 @@
/// Save the controller.
void Controller::Save(std::string &prefix, std::ostream &stream)
{
- std::vector<std::string>::iterator iter1;
- std::vector<std::string>::iterator iter2;
+ std::vector<Iface*>::iterator iter;
stream << prefix << "<controller:" << this->typeName << " name=\"" <<
this->nameP->GetValue() << "\">\n";
stream << prefix << " " << *(this->updatePeriodP) << "\n";
// Ouptut the interfaces
- for (iter1 = this->ifaceTypes.begin(), iter2=this->ifaceNames.begin();
- iter1 != this->ifaceTypes.end() && iter2 != this->ifaceNames.end();
- iter1++, iter2++)
+ for (iter = this->ifaces.begin(); iter != this->ifaces.end(); iter++)
{
- stream << prefix << " <interface:" << *(iter1) << " name=\"" << *(iter2)
<< "\"/>\n";
+ stream << prefix << " <interface:" << (*iter)->GetType() << " name=\"" <<
(*iter)->GetId() << "\"/>\n";
}
std::string p = prefix + " ";
@@ -256,3 +250,31 @@
{
return this->nameP->GetValue();
}
+
+////////////////////////////////////////////////////////////////////////////////
+// Get a interface of the controller
+Iface* Controller::GetIface(std::string type, bool mandatory, int number)
+{
+ std::vector<Iface*>::iterator iter;
+ int order = number;
+ Iface *iface = NULL;
+
+ for (iter = this->ifaces.begin(); iter != this->ifaces.end(); iter++)
+ {
+ if ((*iter)->GetType() == type)
+ {
+ if (order == 0)
+ iface = (*iter);
+ else
+ order --;
+ }
+ }
+
+ if ((iface == NULL) and mandatory)
+ {
+ std::ostringstream stream;
+ stream << "Controller " << this->GetName() << "trying to get " << type <<
" interface but it is not defined";
+ gzthrow(stream.str());
+ }
+ return iface;
+}
\ No newline at end of file
Modified: code/gazebo/trunk/server/controllers/Controller.hh
===================================================================
--- code/gazebo/trunk/server/controllers/Controller.hh 2009-05-30 05:43:06 UTC
(rev 7746)
+++ code/gazebo/trunk/server/controllers/Controller.hh 2009-05-30 09:37:34 UTC
(rev 7747)
@@ -98,14 +98,20 @@
/// \brief Return the name of this controller
/// \return The name of the controller
public: std::string GetName() const;
-
+
+ /// \brief Return Iface by type
+ /// \param type The type of the iface to retrieve
+ /// \param number If several ifaces of the same type present, which one
+ /// \return Iface, or exception if not found.
+ protected: Iface* GetIface(std::string type, bool mandatory=true, int
number=0);
+
/// \brief The controller's name
protected: ParamT<std::string> *nameP;
/// \brief The entity that owns this controller
protected: Entity *parent;
- /// \breif flag to keep controllers updating continuously
+ /// \brief flag to keep controllers updating continuously
protected: ParamT<bool> *alwaysOnP;
/// \brief Update period
@@ -120,9 +126,6 @@
/// \brief Array of all the iface for this controller
protected: std::vector<Iface*> ifaces;
- private: std::vector< std::string > ifaceTypes;
- private: std::vector< std::string > ifaceNames;
-
protected: std::vector<Param*> parameters;
};
Modified:
code/gazebo/trunk/server/controllers/actarray/bandit/Bandit_Actarray.cc
===================================================================
--- code/gazebo/trunk/server/controllers/actarray/bandit/Bandit_Actarray.cc
2009-05-30 05:43:06 UTC (rev 7746)
+++ code/gazebo/trunk/server/controllers/actarray/bandit/Bandit_Actarray.cc
2009-05-30 09:37:34 UTC (rev 7747)
@@ -77,12 +77,8 @@
{
XMLConfigNode *jNode;
int i =0;
- this->myIface = dynamic_cast<ActarrayIface*>(this->ifaces[0]);
+ this->myIface = dynamic_cast<ActarrayIface*>(this->GetIface("actarray"));
- if (!this->myIface)
- gzthrow("Bandit_Actarray controller requires a Actarray Iface");
-
-
Param::Begin(&this->parameters);
for (i=0, jNode = node->GetChild("joint"); jNode; i++)
{
Modified:
code/gazebo/trunk/server/controllers/actarray/generic/Generic_Actarray.cc
===================================================================
--- code/gazebo/trunk/server/controllers/actarray/generic/Generic_Actarray.cc
2009-05-30 05:43:06 UTC (rev 7746)
+++ code/gazebo/trunk/server/controllers/actarray/generic/Generic_Actarray.cc
2009-05-30 09:37:34 UTC (rev 7747)
@@ -73,11 +73,8 @@
void Generic_Actarray::LoadChild(XMLConfigNode *node)
{
XMLConfigNode *jNode;
- this->myIface = dynamic_cast<ActarrayIface*>(this->ifaces[0]);
+ this->myIface = dynamic_cast<ActarrayIface*>(this->GetIface("actarray"));
- if (!this->myIface)
- gzthrow("Generic_Actarray controller requires a Actarray Iface");
-
for (n_joints=0, jNode = node->GetChild("joint"); jNode; n_joints++, jNode =
jNode->GetNext("joint"))
{
}
Modified: code/gazebo/trunk/server/controllers/audio/Audio.cc
===================================================================
--- code/gazebo/trunk/server/controllers/audio/Audio.cc 2009-05-30 05:43:06 UTC
(rev 7746)
+++ code/gazebo/trunk/server/controllers/audio/Audio.cc 2009-05-30 09:37:34 UTC
(rev 7747)
@@ -66,11 +66,7 @@
// Load the controller
void AudioController::LoadChild(XMLConfigNode *node)
{
- this->audioIface = dynamic_cast<AudioIface*>(this->ifaces[0]);
-
- if (!this->audioIface)
- gzthrow("Audio controller requires an audio interface");
-
+ this->audioIface = dynamic_cast<AudioIface*>(this->GetIface("audio"));
this->openALSource = OpenAL::Instance()->CreateSource( node );
}
Modified: code/gazebo/trunk/server/controllers/bumper/generic/Generic_Bumper.cc
===================================================================
--- code/gazebo/trunk/server/controllers/bumper/generic/Generic_Bumper.cc
2009-05-30 05:43:06 UTC (rev 7746)
+++ code/gazebo/trunk/server/controllers/bumper/generic/Generic_Bumper.cc
2009-05-30 09:37:34 UTC (rev 7747)
@@ -59,12 +59,7 @@
// Load the controller
void Generic_Bumper::LoadChild(XMLConfigNode *node)
{
- this->myIface = dynamic_cast<BumperIface*>(this->ifaces[0]);
-
- if (!this->myIface)
- {
- gzthrow("Generic_Bumper controller requires an BumperIface");
- }
+ this->myIface = dynamic_cast<BumperIface*>(this->GetIface("bumper"));
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
2009-05-30 05:43:06 UTC (rev 7746)
+++ code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
2009-05-30 09:37:34 UTC (rev 7747)
@@ -63,10 +63,7 @@
// Load the controller
void Generic_Camera::LoadChild(XMLConfigNode *node)
{
- this->cameraIface = dynamic_cast<CameraIface*>(this->ifaces[0]);
-
- if (!this->cameraIface)
- gzthrow("Generic_Camera controller requires a CameraIface");
+ this->cameraIface = dynamic_cast<CameraIface*>(this->GetIface("camera"));
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2009-05-30 05:43:06 UTC (rev 7746)
+++ code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2009-05-30 09:37:34 UTC (rev 7747)
@@ -70,24 +70,17 @@
// Load the controller
void Stereo_Camera::LoadChild(XMLConfigNode *node)
{
- std::vector<Iface*>::iterator iter;
+ CameraIface *ciface = NULL;
- for (iter = this->ifaces.begin(); iter != this->ifaces.end(); iter++)
- {
- if ((*iter)->GetType() == "stereo")
- this->stereoIface = dynamic_cast<StereoCameraIface*>(*iter);
- else if ((*iter)->GetType() == "camera")
- {
- CameraIface *ciface = dynamic_cast<CameraIface*>(*iter);
- this->cameraIfaces[ciface->GetId()] = ciface;
- }
- }
+ this->stereoIface =
dynamic_cast<StereoCameraIface*>(this->GetIface("stereo"));
+ ciface = dynamic_cast<CameraIface*>(this->GetIface("camera",true,0));
+ this->cameraIfaces[ciface->GetId()] = ciface;
+ ciface = dynamic_cast<CameraIface*>(this->GetIface("camera",true,1));
+ this->cameraIfaces[ciface->GetId()] = ciface;
+
this->leftCameraNameP->Load(node);
this->rightCameraNameP->Load(node);
-
- if (!this->stereoIface)
- gzthrow("Stereo_Camera controller requires a StereoCameraIface");
}
////////////////////////////////////////////////////////////////////////////////
Modified:
code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
===================================================================
--- code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
2009-05-30 05:43:06 UTC (rev 7746)
+++ code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
2009-05-30 09:37:34 UTC (rev 7747)
@@ -100,23 +100,9 @@
void Pioneer2_Gripper::LoadChild(XMLConfigNode *node)
{
XMLConfigNode *jNode;
- this->gripIface = dynamic_cast<GripperIface*>(this->ifaces[0]);
+ this->gripIface = dynamic_cast<GripperIface*>(this->GetIface("gripper"));
+ this->actIface = dynamic_cast<ActarrayIface*>(this->GetIface("actarray"));
- if (!this->gripIface)
- {
- this->gripIface = dynamic_cast<GripperIface*>(this->ifaces[1]);
- if (!this->gripIface)
- gzthrow("Pioneer2_Gripper controller requires a GripperIface");
- }
-
- this->actIface = dynamic_cast<ActarrayIface*>(this->ifaces[1]);
- if (!this->actIface)
- {
- this->actIface = dynamic_cast<ActarrayIface*>(this->ifaces[0]);
- if (!this->actIface)
- gzthrow("Pioneer2_Gripper controller requires an ActarrayIface");
- }
-
Param::Begin(&this->parameters);
jNode = node->GetChild("leftJoint");
if (jNode)
Modified: code/gazebo/trunk/server/controllers/imu/Generic_Imu.cc
===================================================================
--- code/gazebo/trunk/server/controllers/imu/Generic_Imu.cc 2009-05-30
05:43:06 UTC (rev 7746)
+++ code/gazebo/trunk/server/controllers/imu/Generic_Imu.cc 2009-05-30
09:37:34 UTC (rev 7747)
@@ -64,16 +64,7 @@
// Load the controller
void Generic_Imu::LoadChild(XMLConfigNode *node)
{
- std::vector<Iface*>::iterator iter;
-
- for (iter = this->ifaces.begin(); iter != this->ifaces.end(); iter++)
- {
- if ((*iter)->GetType() == "imu")
- this->imuIface = dynamic_cast<ImuIface*>(*iter);
- }
-
- if (!this->imuIface) gzthrow("GenericImu controller requires a ImuIface");
-
+ this->imuIface = dynamic_cast<ImuIface*>(this->GetIface("imu"));
}
////////////////////////////////////////////////////////////////////////////////
Modified:
code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
===================================================================
--- code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
2009-05-30 05:43:06 UTC (rev 7746)
+++ code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
2009-05-30 09:37:34 UTC (rev 7747)
@@ -68,18 +68,8 @@
// Load the controller
void SickLMS200_Laser::LoadChild(XMLConfigNode *node)
{
- std::vector<Iface*>::iterator iter;
-
- for (iter = this->ifaces.begin(); iter != this->ifaces.end(); iter++)
- {
- if ((*iter)->GetType() == "laser")
- this->laserIface = dynamic_cast<LaserIface*>(*iter);
- else if ((*iter)->GetType() == "fiducial")
- this->fiducialIface = dynamic_cast<FiducialIface*>(*iter);
- }
-
- if (!this->laserIface) gzthrow("SickLMS200_Laser controller requires a
LaserIface");
-
+ this->laserIface = dynamic_cast<LaserIface*>(this->GetIface("laser"));
+ this->fiducialIface =
dynamic_cast<FiducialIface*>(this->GetIface("fiducial", false));
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/controllers/opaque/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/controllers/opaque/CMakeLists.txt 2009-05-30
05:43:06 UTC (rev 7746)
+++ code/gazebo/trunk/server/controllers/opaque/CMakeLists.txt 2009-05-30
09:37:34 UTC (rev 7747)
@@ -1 +1,2 @@
ADD_SUBDIRECTORY(jointforce)
+ADD_SUBDIRECTORY(cannon)
Modified: code/gazebo/trunk/server/controllers/opaque/jointforce/JointForce.cc
===================================================================
--- code/gazebo/trunk/server/controllers/opaque/jointforce/JointForce.cc
2009-05-30 05:43:06 UTC (rev 7746)
+++ code/gazebo/trunk/server/controllers/opaque/jointforce/JointForce.cc
2009-05-30 09:37:34 UTC (rev 7747)
@@ -64,10 +64,7 @@
std::string jointName;
dJointFeedback *jFeedback = new dJointFeedback;
int i =0;
- this->myIface = dynamic_cast<OpaqueIface*>(this->ifaces[0]);
- if (!this->myIface) {
- gzthrow("JointForce controller requires an OpaqueIface");
- }
+ this->myIface = dynamic_cast<OpaqueIface*>(this->GetIface("opaque"));
jNode = node->GetChild("joint");
while(jNode && i < GAZEBO_JOINTFORCE_CONTROLLER_MAX_FEEDBACKS)
{
Modified:
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
===================================================================
---
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2009-05-30 05:43:06 UTC (rev 7746)
+++
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2009-05-30 09:37:34 UTC (rev 7747)
@@ -84,11 +84,8 @@
// Load the controller
void Differential_Position2d::LoadChild(XMLConfigNode *node)
{
- this->myIface = dynamic_cast<PositionIface*>(this->ifaces[0]);
+ this->myIface = dynamic_cast<PositionIface*>(this->GetIface("position"));
- if (!this->myIface)
- gzthrow("Differential_Position2d controller requires a PositionIface");
-
// the defaults are from pioneer2dx
this->wheelSepP->Load(node);
this->wheelDiamP->Load(node);
Modified:
code/gazebo/trunk/server/controllers/position2d/holonome3sw/Holonome3Sw_Position2d.cc
===================================================================
---
code/gazebo/trunk/server/controllers/position2d/holonome3sw/Holonome3Sw_Position2d.cc
2009-05-30 05:43:06 UTC (rev 7746)
+++
code/gazebo/trunk/server/controllers/position2d/holonome3sw/Holonome3Sw_Position2d.cc
2009-05-30 09:37:34 UTC (rev 7747)
@@ -65,11 +65,8 @@
// Load the controller
void Holonome3Sw_Position2d::LoadChild(XMLConfigNode *node)
{
- this->myIface = dynamic_cast<PositionIface*>(this->ifaces[0]);
+ this->myIface = dynamic_cast<PositionIface*>(this->GetIface("position"));
- if (!this->myIface)
- gzthrow("Holonome3Sw_Position2d controller requires a PositionIface");
-
// Get wheels child
node = node->GetChild("wheels");
if (!node)
Modified:
code/gazebo/trunk/server/controllers/position2d/steering/Steering_Position2d.cc
===================================================================
---
code/gazebo/trunk/server/controllers/position2d/steering/Steering_Position2d.cc
2009-05-30 05:43:06 UTC (rev 7746)
+++
code/gazebo/trunk/server/controllers/position2d/steering/Steering_Position2d.cc
2009-05-30 09:37:34 UTC (rev 7747)
@@ -83,12 +83,8 @@
float defaultMaxAngle;
- this->myIface = dynamic_cast<PositionIface*>(this->ifaces[0]);
+ this->myIface = dynamic_cast<PositionIface*>(this->GetIface("position"));
- if (!this->myIface)
- gzthrow("Steering_Position2d controller requires a PositionIface");
-
-
//general
defaultTorque = node->GetFloat("torque", 1000, 0);
Modified: code/gazebo/trunk/server/controllers/ptz/generic/Generic_PTZ.cc
===================================================================
--- code/gazebo/trunk/server/controllers/ptz/generic/Generic_PTZ.cc
2009-05-30 05:43:06 UTC (rev 7746)
+++ code/gazebo/trunk/server/controllers/ptz/generic/Generic_PTZ.cc
2009-05-30 09:37:34 UTC (rev 7747)
@@ -88,11 +88,8 @@
// Load the controller
void Generic_PTZ::LoadChild(XMLConfigNode *node)
{
- this->ptzIface = dynamic_cast<PTZIface*>(this->ifaces[0]);
+ this->ptzIface = dynamic_cast<PTZIface*>(this->GetIface("ptz"));
- if (!this->ptzIface)
- gzthrow("Generic_PTZ controller requires a PTZIface");
-
this->panJointNameP->Load(node);
this->tiltJointNameP->Load(node);
this->motionGainP->Load(node);
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