Exemplo n.º 1
0
void ZoneGraph::updateConnections()
    {
    bool drawFuncRels = mDrawOptions.mDrawFunctionRelations;
    ReverseIndexLookup indexLookup(getNodes());
    mConnections.clear();
    for(size_t nodeIndex=0; nodeIndex<getNodes().size(); nodeIndex++)
        {
        const ModelClassifier *classifier = ModelClassifier::getClass(
            getNodes()[nodeIndex].mType);
        if(classifier)
            {
            // Get attributes of classifier, and get the decl type
            for(const auto &attr : classifier->getAttributes())
                {
                mConnections.insertConnection(nodeIndex,
                    ModelClassifier::getClass(attr->getDeclType()),
                    indexLookup, ZDD_FirstIsClient);
                }
            if(drawFuncRels)
                {
                ConstModelClassifierVector relatedClasses;
                mModel->getRelatedFuncInterfaceClasses(*classifier, relatedClasses);
                for(auto const &item : relatedClasses)
                    {
                    mConnections.insertConnection(nodeIndex, item,
                            indexLookup, ZDD_FirstIsClient);
                    }

                ConstModelDeclClasses relatedDeclClasses;
                mModel->getRelatedBodyVarClasses(*classifier, relatedDeclClasses);
                for(auto const &item : relatedDeclClasses)
                    {
                    mConnections.insertConnection(nodeIndex, item.getClass(),
                            indexLookup, ZDD_FirstIsClient);
                    }
                }

            // Go through associations, and get related classes.
            for(const auto &assoc : mModel->mAssociations)
                {
                size_t n1Index = NO_INDEX;
                size_t n2Index = NO_INDEX;
                if(assoc->getChild() == classifier)
                    {
                    n1Index = indexLookup.getClassIndex(assoc->getParent());
                    n2Index = indexLookup.getClassIndex(classifier);
                    }
                else if(assoc->getParent() == classifier)
                    {
                    n2Index = indexLookup.getClassIndex(assoc->getChild());
                    n1Index = indexLookup.getClassIndex(classifier);
                    }
                if(n1Index != NO_INDEX && n2Index != NO_INDEX)
                    {
                    mConnections.insertConnection(n1Index, n2Index, ZDD_SecondIsClient);
                    }
                }
            }
        }
    }
Exemplo n.º 2
0
/**
 * Set the reference of a joint to a position in radians
 * 
 * @param joint The joint to set 
 * @param rad   The position in radians
 * @param mode  The mode of joint operation
 */
void ReferenceChannel::setReference(string &joint, double rad, Mode mode){
	if (errored) return;
	int index = indexLookup(joint);
	if (index != -1){
		currentReference.ref[index] = rad;
        currentReference.mode[index] = 1;
    }
}
Exemplo n.º 3
0
/**
 * Reset a joint
 * @param  joint The joint to reset
 * @return       True on successs
 */
bool CommandChannel::reset(string &joint) {
    BoardCommand command;
    memset(&command, 0, sizeof(command));
    int jointNum = 0;

    if ((jointNum = indexLookup(joint)) == -1) {
        return false;
    } else {
        command.type = D_ZERO_ENCODER;
        command.joint = jointNum;
    }

    int r = ach_put(&huboBoardCommandChannel, &command, sizeof(command));

    if (ACH_OK != r) {
        cerr << "Error! Command reset failed with state " << r << endl;
        return false;
    }
    return true;
}
Exemplo n.º 4
0
/**
 * Home a joint
 * @param  joint The joint to home
 * @return       True on success
 */
bool CommandChannel::home(string joint) {
    BoardCommand command;
    memset(&command, 0, sizeof(command));
    int jointNum = 0;

    if (strcmp(joint.c_str(), "all") == 0) {
        command.type = D_GOTO_HOME_ALL;
    } else if ((jointNum = indexLookup(joint)) == -1) {
        return false;
    } else {
        command.type = D_GOTO_HOME;
        command.joint = jointNum;
    }

    int r = ach_put(&huboBoardCommandChannel, &command, sizeof(command));

    if (ACH_OK != r) {
        cerr << "Error! Command home failed with state " << r << endl;
        return false;
    }
    return true;
}
Exemplo n.º 5
0
/**
 * Enable a joint
 * @param  joint The joint to enable
 * @return       True on success
 */
bool CommandChannel::enable(string joint) {
    BoardCommand command;
    memset(&command, 0, sizeof(command));
    int jointNum = 0;

    if (strcmp(joint.c_str(), "all") == 0) {
        command.type = D_CTRL_ON_OFF_ALL;
        command.param[0] = D_ENABLE;
    } else if ((jointNum = indexLookup(joint)) == -1) {
        return false;
    } else {
        command.type = D_CTRL_ON_OFF;
        command.joint = jointNum;
        command.param[0] = D_ENABLE;
    }

    int r = ach_put(&huboBoardCommandChannel, &command, sizeof(command));

    if (ACH_OK != r) {
        cerr << "Error! Command enable failed with state " << r << endl;
        return false;
    }
    return true;
}