void BottlesGame :: setup(ofRectangle rect, LaserManager * lm) {
BaseGame:: setup(rect, lm);
shotsPerGame = 6;
name = "Green Bottles";
for (int i = 0; i<6; i++) {
bottles.push_back(Bottle());
Bottle & bottle = bottles[i];
bottle.pos.set(ofMap(i,0,5,gameRect.getLeft() + gameRect.getWidth() * 0.2, gameRect.getRight() - gameRect.getWidth() * 0.2), gameRect.getTop() + gameRect.getHeight()*0.4);
}
}
void AllostaticController::configureAllostatic(yarp::os::ResourceFinder &rf)
{
//The homeostatic module should be running in parallel, independent from this, so the objective of
//this config would be to have a proper list and connect to each port
homeo_name = "homeostasis";
string homeo_rpc_name = "/" + homeo_name + "/rpc";
string to_h_rpc_name="/"+moduleName+"/toHomeoRPC:o";
to_homeo_rpc.open(to_h_rpc_name);
while(!Network::connect(to_h_rpc_name,homeo_rpc_name))
{
yDebug()<<"Trying to connect to homeostasis...";
yDebug() << "from " << to_h_rpc_name << " to " << homeo_rpc_name;
yarp::os::Time::delay(0.2);
}
yInfo() << "Initializing drives...";//<<endl;
Bottle grpAllostatic = rf.findGroup("ALLOSTATIC");
drivesList = *grpAllostatic.find("drives").asList();
Bottle cmd;
priority_sum = 0.;
double priority;
for (int d = 0; d<drivesList.size(); d++)
{
cmd.clear();
string driveName = drivesList.get(d).asString();
yInfo() << ("Initializing drive " + driveName);
cmd.addString("add");
cmd.addString("conf");
Bottle drv;
drv.clear();
Bottle aux;
aux.clear();
aux.addString("name");
aux.addString(driveName);
drv.addList()=aux;
aux.clear();
drv.addList()=grpAllostatic;
cmd.addList()=drv;
Bottle rply;
rply.clear();
rply.get(0).asString();
to_homeo_rpc.write(cmd,rply);
AllostaticDrive alloDrive;
alloDrive.name = driveName;
Value cmds = grpAllostatic.check((driveName + "-sensation-on"), Value("None"));
alloDrive.sensationOnCmd = *cmds.asList();
cmds = grpAllostatic.check((driveName + "-sensation-off"), Value("None"));
alloDrive.sensationOffCmd = *cmds.asList();
cmds = grpAllostatic.check((driveName + "-before-trigger"), Value("None"));
if (!(cmds.isString() && cmds.asString() == "None")) {
alloDrive.beforeTriggerCmd = *cmds.asList();
}
cmds = grpAllostatic.check((driveName + "-after-trigger"), Value("None"));
if (!(cmds.isString() && cmds.asString() == "None")) {
alloDrive.afterTriggerCmd = *cmds.asList();
}
alloDrive.homeoPort = &to_homeo_rpc;
alloDrive.inputSensationPort = new BufferedPort<Bottle>;
string portName = "/" + moduleName + "/" + driveName + "/sensation:i";
alloDrive.inputSensationPort->open(portName);
openPorts(driveName);
string sensationPort = grpAllostatic.check((driveName + "-sensation-port"), Value("None")).asString();
string pn = "/" + moduleName + "/" + driveName + "/sensation:i";
while(!Network::connect(sensationPort, pn)) {
yDebug()<<"Connecting " << sensationPort << " to " << pn;
yarp::os::Time::delay(0.5);
}
// set drive priorities. Default to 1.
priority = grpAllostatic.check((driveName + "-priority"), Value(1.)).asDouble();
priority_sum += priority;
drivePriorities.push_back(priority);
//Under effects
string under_port_name = grpAllostatic.check((driveName + "-under-behavior-port"), Value("None")).asString();
string under_cmd_name = grpAllostatic.check((driveName + "-under-behavior"), Value("None")).asString();
bool active = false;
if (under_port_name != "None" && under_cmd_name != "None")
{
active = true;
string out_port_name = "/" + moduleName + "/" + driveName + "/under_action:o";
alloDrive.behaviorUnderPort = new Port();
alloDrive.behaviorUnderPort->open(out_port_name);
yDebug() << "trying to connect to" << under_port_name;
while(!Network::connect(out_port_name,under_port_name))
{
yarp::os::Time::delay(0.5);
}
alloDrive.behaviorUnderCmd = Bottle(under_cmd_name);
}else{
yInfo() << "No port name for" << driveName << "under-behavior-port";
}
//Over effects
string over_port_name = grpAllostatic.check((driveName + "-over-behavior-port"), Value("None")).asString();
string over_cmd_name = grpAllostatic.check((driveName + "-over-behavior"), Value("None")).asString();
if (over_port_name != "None" && over_cmd_name != "None")
{
active=true;
string out_port_name = "/" + moduleName + "/" + driveName + "/over_action:o";
alloDrive.behaviorOverPort = new Port();
alloDrive.behaviorOverPort->open(out_port_name);
yDebug() << "trying to connect to" << over_port_name;
while(!Network::connect(out_port_name, over_port_name))
{
yarp::os::Time::delay(0.5);
}
alloDrive.behaviorOverCmd = Bottle(over_cmd_name);
} else {
yInfo() << "No port name for" << driveName << "over-behavior-port";
}
alloDrive.active = active;
allostaticDrives[driveName] = alloDrive;
}
if (! Normalize(drivePriorities))
yDebug() << "Error: Drive priorities sum up to 0.";
yInfo() << "done.";
}
