bool homeostaticModule::addNewDrive(string driveName)
{
cout << "adding a default drive..." << endl;
Drive* drv = new Drive(driveName);
drv->setHomeostasisMin(drv->homeostasisMin);
drv->setHomeostasisMax(drv->homeostasisMax);
drv->setDecay(drv->decay);
drv->setValue((drv->homeostasisMax + drv->homeostasisMin) / 2.);
drv->setGradient(false);
manager.addDrive(drv);
cout << "default drive added. Opening ports..."<<endl;
openPorts(driveName);
cout << "new drive created successfully!"<<endl;
return true;
}
bool homeostaticModule::addNewDrive(string driveName, yarp::os::Bottle& grpHomeostatic)
{
Drive* drv = new Drive(driveName);
drv->setHomeostasisMin(grpHomeostatic.check((driveName + "-homeostasisMin"), Value(drv->homeostasisMin)).asDouble());
drv->setHomeostasisMax(grpHomeostatic.check((driveName + "-homeostasisMax"), Value(drv->homeostasisMax)).asDouble());
cout << "H1 " << grpHomeostatic.check((driveName + "-decay"), Value(drv->decay)).asDouble() <<endl;
drv->setDecay(grpHomeostatic.check((driveName + "-decay"), Value(drv->decay)).asDouble());
drv->setValue((drv->homeostasisMax + drv->homeostasisMin) / 2.);
drv->setGradient(grpHomeostatic.check((driveName + "-gradient"), Value(drv->gradient)).asBool());
cout << "h2 " << drv->decay << endl;
//cout << drv->name << " " << drv->homeostasisMin << " " << drv->homeostasisMax << " " << drv->decay << " " <<drv->gradient << endl;
//cout << d << endl;
//cout << grpHomeostatic.toString()<<endl;
manager.addDrive(drv);
cout << "h2 " << manager.drives[0]->decay << endl;
openPorts(driveName);
return true;
}