OMK::Iii::JointInteractorExtension Class Reference
[Joints]

The interactor extension associated to the joint extension. More...

Inheritance diagram for OMK::Iii::JointInteractorExtension:

[legend]Collaboration diagram for OMK::Iii::JointInteractorExtension:

[legend]List of all members.

Protected Member Functions
virtual bool	loadObjectParameters (const ConfigurationParameterDescriptor *node)
	Load the connection.
virtual bool	loadExtensionParameters (const ConfigurationParameterDescriptor *node)
	This method initialises the interactor.
virtual void	postComputeParameters ()
	Calculates the new position of the reference object.
void	startRetroPropagation ()
void	stopRetroPropagation ()
Protected Attributes
Name	_referenceId
Name	_positionId
bool	_connected
JointExtension *	_jointExtension
Friends
class	JointExtension

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Detailed Description

The interactor extension associated to the joint extension.

Date:

2007-06-20

Author:

Benoît Chanclou

Module description :

This class is only available associated to the joint extension and cannot be registered and created dynamically.

Definition at line 46 of file OMKJointExtension.cpp.

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Constructor & Destructor Documentation

OMK::Iii::JointInteractorExtension::~JointInteractorExtension

(

)

[virtual]

Destructor of InteractorObject.

Definition at line 80 of file OMKJointExtension.cpp.

{
}

OMK::Iii::JointInteractorExtension::JointInteractorExtension

(

JointExtension *

jointExtension

)

[protected]

Protected constructor of InteractorObject call by derivate classes.

Definition at line 72 of file OMKJointExtension.cpp.

References OMK::Iii::InteractorExtension::_access, and OMK::Type::AccessGroup::_level.

: InteractorExtension( jointExtension->_owner, std::string( jointExtension->_id.getCString() ) + "Interactor", false ),
  _connected( false ),
  _jointExtension( jointExtension ) 
{
  _access._level = 0 ;
}

OMK::Iii::JointInteractorExtension::~JointInteractorExtension

(

)

[virtual]

Destructor of InteractorObject.

Definition at line 80 of file OMKJointExtension.cpp.

{
}

OMK::Iii::JointInteractorExtension::JointInteractorExtension

(

JointExtension *

jointExtension

)

[protected]

Protected constructor of InteractorObject call by derivate classes.

Definition at line 72 of file OMKJointExtension.cpp.

References OMK::Iii::InteractorExtension::_access, and OMK::Type::AccessGroup::_level.

: InteractorExtension( jointExtension->_owner, std::string( jointExtension->_id.getCString() ) + "Interactor", false ),
  _connected( false ),
  _jointExtension( jointExtension ) 
{
  _access._level = 0 ;
}

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Member Function Documentation

bool OMK::Iii::JointInteractorExtension::loadObjectParameters

(

const ConfigurationParameterDescriptor *

node

)

[protected, virtual]

Load the connection.

Reimplemented from OMK::Extension.

Definition at line 84 of file OMKJointExtension.cpp.

References OMK::ExtensionT< SimulatedObjectType >::_owner, _positionId, _referenceId, and OMK::ParametersAccessor::get().

Referenced by OMK::Iii::JointExtension::loadObjectParameters().

{
  bool ok = true ;

  std::pair< Name, Name > connection ;
  ok = ok && ParametersAccessor::get( node, "refPositionConnect", connection, _owner ) ;
  if( ok )
  {
    _referenceId = connection.first ;
    _positionId = connection.second ;
  }

  return ok  ;
}

bool OMK::Iii::JointInteractorExtension::loadExtensionParameters

(

const ConfigurationParameterDescriptor *

node

)

[protected, virtual]

This method initialises the interactor.

Load the parameters to create the interactor outputs.

Reimplemented from OMK::Iii::InteractorExtension.

Definition at line 99 of file OMKJointExtension.cpp.

References OMK::Iii::InteractorExtension::_access, _jointExtension, OMK::Type::AccessGroup::_level, OMK::ExtensionT< SimulatedObjectType >::_owner, _positionId, _referenceId, OMK::Iii::JointExtension::_referencePosition, OMK::Iii::InteractorOutput::create(), OMK::debugMsg(), OMK::ParametersAccessor::get(), OMK::Name::getCString(), OMK::IAttribute::getId(), OMK::ConfigurationParameterDescriptor::getNumberOfSubItems(), OMK::ConfigurationParameterDescriptor::getSubDescriptorByName(), OMK::ConfigurationParameterDescriptor::getSubDescriptorByPosition(), OMK_DEBUG_III, OMTRACEID, and OMK::Iii::InteractorExtension::startInteractor().

Referenced by OMK::Iii::JointExtension::loadExtensionParameters().

{
  ParametersAccessor::get( node, "Level", _access._level ); 
  OMTRACEID( OMK_DEBUG_III, "The interactor " <<  OMK::debugMsg( this, _owner ) << " has the level " << _access._level ) ;
  startInteractor() ;
  
  // Try to read the category in the configuration of the reference object
  bool found  = false ; // flag to know if the search is ok
  std::string category( "absolute" ) ; // The default value
  // 1/ Search in the current configuration the category
  if( ParametersAccessor::get( node, "Category", category ) )
  {
    OMTRACEID( OMK_DEBUG_III, "The category for the reference is \"" << category << "\" and it " << ( found ? "was found in configuration" : "is the default value" ) ) ;
  }
  else
  {
    // 2/ search the extensions configuration of the reference object
    const ConfigurationParameterDescriptor *extNodeForRef = _owner->getController().getObjectDescriptorOfObject( _referenceId ).getExtensionsParameters() ;
    int nbItems = extNodeForRef ? extNodeForRef->getNumberOfSubItems() : 0 ;
    for( int i = 0 ; i < nbItems && !found ; ++i )
    { 
      // Retrieves configuration for each extension
      const ConfigurationParameterDescriptor * extNode = extNodeForRef->getSubDescriptorByPosition( i ) ;
      // Try to found "Connectors" in it
      const ConfigurationParameterDescriptor * connectorsNode = extNode->getSubDescriptorByName( "Connectors" ) ;
      // Try to found the connector with the same id than the output which is the reference for the joint
      const ConfigurationParameterDescriptor * connectorNode = connectorsNode ? connectorsNode->getSubDescriptorByName( _positionId.getCString() ) : 0 ;
      if( connectorNode )
      { // Ok, so try to read the "Category" field
        ParametersAccessor::get( connectorNode, "Category", category ) ;
        found = true ;
        break ;
      }
      else
      { // Not ok, no connectors has this id
        int nbItems2 = connectorsNode ? connectorsNode->getNumberOfSubItems() : 0 ;
        for( int j = 0 ; j < nbItems2 ; ++j )
        { // Look for connector which has the "Attribute" field equals to the id
          std::string id ;
          const ConfigurationParameterDescriptor * connectorNode = connectorsNode->getSubDescriptorByPosition( j ) ;
          if( ParametersAccessor::get( connectorNode, "Attribute", id ) && id == _positionId )
          { // The "Attribute" field is ok => try to read the "Category" field
            ParametersAccessor::get( connectorNode, "Category", category ) ;
            found = true ;
            break ;
          }
        }
      }
    }
    OMTRACEID( OMK_DEBUG_III, "The category for the reference is \"" << category << "\" and it " << ( found ? "was found in configuration" : "is the default value" ) ) ;
  }
    
  // Creates the interactor output
  InteractorOutput::create( _jointExtension->_referencePosition.getId(), _jointExtension->_referencePosition.getId(), this, category, OMK::Type::AccessGroupLevel(), false ) ;

  return true ;
}

void OMK::Iii::JointInteractorExtension::postComputeParameters

(

)

[protected, virtual]

Calculates the new position of the reference object.

Reimplemented from OMK::Extension.

Definition at line 157 of file OMKJointExtension.cpp.

{
}

void OMK::Iii::JointInteractorExtension::startRetroPropagation

(

)

[protected]

Definition at line 161 of file OMKJointExtension.cpp.

References _connected, _jointExtension, _referenceId, OMK::Iii::JointExtension::_referencePosition, OMK::Iii::controlTakeOverAndGetCurrentValues(), OMK::IAttribute::getId(), OMK::Iii::InteractorExtension::getSessionWith(), OMMESSAGE, and OMK::Iii::InteractorExtension::startSessionWith().

{
  if( !getSessionWith( _referenceId ) )
  {
    startSessionWith( _referenceId ) ;
    OMMESSAGE( "start session" ) ;
  }
  else if( !_connected )
  {
    (*getSessionWith( _referenceId )).c( _jointExtension->_referencePosition.getId() ).c( OMK::Iii::controlTakeOverAndGetCurrentValues ) ;
    _connected = true ;
    OMMESSAGE( "start retro propagation" ) ;
  }
}

void OMK::Iii::JointInteractorExtension::stopRetroPropagation

(

)

[protected]

Definition at line 176 of file OMKJointExtension.cpp.

References _connected, _jointExtension, _referenceId, OMK::Iii::JointExtension::_referencePosition, OMK::Iii::controlRelease(), OMK::IAttribute::getId(), OMK::Iii::InteractorExtension::getSessionWith(), and OMMESSAGE.

Referenced by OMK::Iii::JointExtension::postComputeParameters().

{
  if( _connected ) 
  {
    (*getSessionWith( _referenceId )).c( _jointExtension->_referencePosition.getId() ).c( OMK::Iii::controlRelease ) ;
    _connected = false ;
    OMMESSAGE( "stop retro propagation" ) ;
  }
}

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Friends And Related Function Documentation

friend class JointExtension [friend]

Definition at line 48 of file OMKJointExtension.cpp.

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Member Data Documentation

Name OMK::Iii::JointInteractorExtension::_referenceId [protected]

Definition at line 65 of file OMKJointExtension.cpp.

Referenced by loadExtensionParameters(), loadObjectParameters(), startRetroPropagation(), and stopRetroPropagation().

Name OMK::Iii::JointInteractorExtension::_positionId [protected]

Definition at line 66 of file OMKJointExtension.cpp.

Referenced by loadExtensionParameters(), and loadObjectParameters().

bool OMK::Iii::JointInteractorExtension::_connected [protected]

Definition at line 67 of file OMKJointExtension.cpp.

Referenced by startRetroPropagation(), and stopRetroPropagation().

JointExtension* OMK::Iii::JointInteractorExtension::_jointExtension [protected]

Definition at line 68 of file OMKJointExtension.cpp.

Referenced by loadExtensionParameters(), startRetroPropagation(), and stopRetroPropagation().

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