void CWiFiSensor::SetEntity(CEntity& c_entity) {
/* Treat the entity as composable */
CComposableEntity* pcComposableEntity = dynamic_cast<CComposableEntity*>(&c_entity);
if(pcComposableEntity != NULL) {
/* The entity is composable, does it have the required component? */
if(pcComposableEntity->HasComponent("wifi_equipped_entity")) {
/* Yes, it does */
m_pcWiFiEquippedEntity = &(pcComposableEntity->GetComponent<CWiFiEquippedEntity>("wifi_equipped_entity"));
m_pcEntity = &c_entity;
}
else {
/* No, error */
THROW_ARGOSEXCEPTION("Cannot associate a wifi sensor to an entity of type \"" << c_entity.GetTypeDescription() << "\"");
}
}
}
void CEPuckRangeAndBearingSensor::SetEntity(CEntity& c_entity) {
/* Treat the entity as composable */
CComposableEntity* pcComposableEntity = dynamic_cast<CComposableEntity*>(&c_entity);
if(pcComposableEntity != NULL) {
/* The entity is composable, does it have the required components? */
if(pcComposableEntity->HasComponent("rab_equipped_entity<2>") &&
pcComposableEntity->HasComponent("embodied_entity") &&
pcComposableEntity->HasComponent("controllable_entity")) {
/* Yes, it does */
m_pcRABEquippedEntity = &(pcComposableEntity->GetComponent< CRABEquippedEntity<2> >("rab_equipped_entity<2>"));
m_pcEmbodiedEntity = &(pcComposableEntity->GetComponent<CEmbodiedEntity>("embodied_entity"));
m_pcControllableEntity = &(pcComposableEntity->GetComponent<CControllableEntity>("controllable_entity"));
m_pcEntity = &c_entity;
}
else {
/* No, error */
THROW_ARGOSEXCEPTION("Cannot associate a range and bearing sensor to an entity of type \"" << c_entity.GetTypeDescription() << "\"");
}
}
}
void CQuadRotorSpeedDefaultActuator::SetRobot(CComposableEntity& c_entity) {
try {
/* Get the quadrotor component */
m_pcQuadRotorEntity = &(c_entity.GetComponent<CQuadRotorEntity>("quadrotor"));
/* Check whether the control methods is unset - only one is allowed */
if(m_pcQuadRotorEntity->GetControlMethod() == CQuadRotorEntity::NO_CONTROL) {
/* Get the robot body */
m_pcEmbodiedEntity = &(c_entity.GetComponent<CEmbodiedEntity>("body"));
/* Set the speed control method */
m_pcQuadRotorEntity->SetControlMethod(CQuadRotorEntity::SPEED_CONTROL);
}
else {
THROW_ARGOSEXCEPTION("Can't associate a quadrotor speed actuator to entity \"" << c_entity.GetId() << "\" because it conflicts with a previously associated quadrotor actuator.");
}
}
catch(CARGoSException& ex) {
THROW_ARGOSEXCEPTION_NESTED("Error setting quadrotor speed actuator to entity \"" << c_entity.GetId() << "\"", ex);
}
}
