CSimulator::~CSimulator() {
if(IsProfiling()) {
delete m_pcProfiler;
}
/* Delete the visualization */
if(m_pcVisualization != NULL) delete m_pcVisualization;
/* Delete all the media */
for(CMedium::TMap::iterator it = m_mapMedia.begin();
it != m_mapMedia.end(); ++it) {
delete it->second;
}
m_mapMedia.clear();
m_vecMedia.clear();
/* Delete all the physics engines */
for(CPhysicsEngine::TMap::iterator it = m_mapPhysicsEngines.begin();
it != m_mapPhysicsEngines.end(); ++it) {
delete it->second;
}
m_mapPhysicsEngines.clear();
m_vecPhysicsEngines.clear();
/* Delete the space and the dynamic linking manager */
if(m_pcSpace != NULL) {
delete m_pcSpace;
}
/* Get rid of all libraries */
CDynamicLoading::UnloadAllLibraries();
}
const bool DB::Open(const std::string &filename)
{
if(IsOpen()==true)
{
Close();
}
if(IsOpen()==false)
{
m_lastresult=sqlite3_open(filename.c_str(),&m_db);
if(m_lastresult==SQLITE_OK)
{
if(IsProfiling())
{
StartProfiling();
}
return true;
}
else
{
std::string errmsg("");
int err=GetLastExtendedError(errmsg);
HandleError(err,errmsg,"DB::Open");
return false;
}
}
else
{
return false;
}
}
void CSimulator::Destroy() {
/* Call user destroy function */
if (m_pcLoopFunctions != NULL) {
m_pcLoopFunctions->Destroy();
delete m_pcLoopFunctions;
m_pcLoopFunctions = NULL;
}
/* Destroy the visualization */
if(m_pcVisualization != NULL) {
m_pcVisualization->Destroy();
}
/* Destroy simulated space */
if(m_pcSpace != NULL) {
m_pcSpace->Destroy();
}
/* Destroy media */
for(CMedium::TMap::iterator it = m_mapMedia.begin();
it != m_mapMedia.end(); ++it) {
it->second->Destroy();
delete it->second;
}
m_mapMedia.clear();
m_vecMedia.clear();
/* Destroy physics engines */
for(CPhysicsEngine::TMap::iterator it = m_mapPhysicsEngines.begin();
it != m_mapPhysicsEngines.end(); ++it) {
it->second->Destroy();
delete it->second;
}
m_mapPhysicsEngines.clear();
m_vecPhysicsEngines.clear();
/* Get rid of ARGoS category */
if(CRandom::ExistsCategory("argos")) {
CRandom::RemoveCategory("argos");
}
/* Free up factory data */
CFactory<CMedium>::Destroy();
CFactory<CPhysicsEngine>::Destroy();
CFactory<CVisualization>::Destroy();
CFactory<CSimulatedActuator>::Destroy();
CFactory<CSimulatedSensor>::Destroy();
CFactory<CCI_Controller>::Destroy();
CFactory<CEntity>::Destroy();
CFactory<CLoopFunctions>::Destroy();
/* Stop profiling and flush the data */
if(IsProfiling()) {
m_pcProfiler->Stop();
m_pcProfiler->Flush(m_bHumanReadableProfile);
}
LOG.Flush();
LOGERR.Flush();
}
void CSimulator::Init() {
/* General configuration */
InitFramework(GetNode(m_tConfigurationRoot, "framework"));
/* Initialize controllers */
InitControllers(GetNode(m_tConfigurationRoot, "controllers"));
/* Create loop functions */
if(NodeExists(m_tConfigurationRoot, "loop_functions")) {
/* User specified a loop_functions section in the XML */
InitLoopFunctions(GetNode(m_tConfigurationRoot, "loop_functions"));
}
else {
/* No loop_functions in the XML */
m_pcLoopFunctions = new CLoopFunctions;
}
/* Physics engines */
InitPhysics(GetNode(m_tConfigurationRoot, "physics_engines"));
/* Media */
InitMedia(GetNode(m_tConfigurationRoot, "media"));
/* Space */
InitSpace(GetNode(m_tConfigurationRoot, "arena"));
/* Call user init function */
if(NodeExists(m_tConfigurationRoot, "loop_functions")) {
m_pcLoopFunctions->Init(GetNode(m_tConfigurationRoot, "loop_functions"));
}
/* Physics engines */
InitPhysics2();
/* Media */
InitMedia2();
/* Initialise visualization */
TConfigurationNodeIterator itVisualization;
if(NodeExists(m_tConfigurationRoot, "visualization") &&
((itVisualization = itVisualization.begin(&GetNode(m_tConfigurationRoot, "visualization"))) != itVisualization.end())) {
InitVisualization(GetNode(m_tConfigurationRoot, "visualization"));
}
else {
LOG << "[INFO] No visualization selected." << std::endl;
m_pcVisualization = new CDefaultVisualization();
}
/* Start profiling, if needed */
if(IsProfiling()) {
m_pcProfiler->Start();
}
}