CTagEntity& CTagEquippedEntity::GetTag(UInt32 un_index) {
ARGOS_ASSERT(un_index < m_vecInstances.size(),
"CTagEquippedEntity::GetTag(), id=\"" <<
GetContext() << GetId() <<
"\": index out of bounds: un_index = " <<
un_index <<
", m_vecInstances.size() = " <<
m_vecInstances.size());
return m_vecInstances[un_index].Tag;
}
const CDirectionalLEDEntity& CDirectionalLEDEquippedEntity::GetLED(UInt32 un_index) const {
ARGOS_ASSERT(un_index < m_vecInstances.size(),
"CLEDEquippedEntity::GetLED(), id=\"" <<
GetContext() + GetId() <<
"\": index out of bounds: un_index = " <<
un_index <<
", m_vecInstances.size() = " <<
m_vecInstances.size());
return m_vecInstances[un_index].LED;
}
void CTagEquippedEntity::SetTagPayload(UInt32 un_index,
const std::string& str_payload) {
ARGOS_ASSERT(un_index < m_vecInstances.size(),
"CTagEquippedEntity::SetTagPayload(), id=\"" <<
GetContext() << GetId() <<
"\": index out of bounds: un_index = " <<
un_index <<
", m_vecInstances.size() = " <<
m_vecInstances.size());
m_vecInstances[un_index].Tag.SetPayload(str_payload);
}
void CDirectionalLEDEquippedEntity::SetLEDColor(UInt32 un_index,
const CColor& c_color) {
ARGOS_ASSERT(un_index < m_vecInstances.size(),
"CLEDEquippedEntity::SetLEDColor(), id=\"" <<
GetContext() + GetId() <<
"\": index out of bounds: un_index = " <<
un_index <<
", m_vecInstances.size() = " <<
m_vecInstances.size());
m_vecInstances[un_index].LED.SetColor(c_color);
}
template <class T> void AssignController(T& c_entity) {
/* Get a reference to the controllable entity */
CControllableEntity& cControllableEntity = c_entity.GetControllableEntity();
/* Look for the controller with the right id in the XML */
TConfigurationNode tControllersTree;
tControllersTree = GetNode(CSimulator::GetInstance().GetConfigurationRoot(), "controllers");
bool found = false;
TConfigurationNodeIterator itControllers;
std::string strControllerId;
itControllers = itControllers.begin(&tControllersTree);
while(!found && itControllers != itControllers.end()) {
GetNodeAttribute(*itControllers, "id", strControllerId);
if(strControllerId == cControllableEntity.GetControllerId()) {
found = true;
}
else {
++itControllers;
}
}
/* Did we find the controller? */
ARGOS_ASSERT(found,
"[FATAL] The entity \"" <<
c_entity.GetId() << "\" has been associated with a controller with id \"" <<
cControllableEntity.GetControllerId() <<
"\", but a controller with this id wasn't found in the <controllers> section of the XML file.");
/* Now itControllers points to the right controller subtree */
/* Get the parameters subtree */
TConfigurationNode tControllerParameters;
tControllerParameters = GetNode(*itControllers, "parameters");
/* Create the controller */
CCI_Controller* pcController =
CSimulator::GetInstance().
GetDynamicLinkingManager().
NewController(c_entity,
cControllableEntity.GetControllerId(),
tControllerParameters);
/* Set the controller to the entity */
cControllableEntity.SetController(*pcController);
}
