Page Menu
Home
c4science
Search
Configure Global Search
Log In
Files
F60657386
Oncilla.cpp
No One
Temporary
Actions
Download File
Edit File
Delete File
View Transforms
Subscribe
Mute Notifications
Award Token
Subscribers
None
File Metadata
Details
File Info
Storage
Attached
Created
Wed, May 1, 18:43
Size
2 KB
Mime Type
text/x-c
Expires
Fri, May 3, 18:43 (1 d, 23 h)
Engine
blob
Format
Raw Data
Handle
17382670
Attached To
R6622 liboncilla
Oncilla.cpp
View Options
/*
* Oncilla.cpp
*
* Created on: 15 dec. 2011
* Author: Alexandre Tuleu, Arne Nordmann
*/
#include "Oncilla.h"
#include <liboncilla/utils/BackendLoader.h>
namespace rci {
namespace oncilla {
::rci::oncilla::Synchronizer::Ptr Oncilla::s_synchronizer;
std::string Oncilla::nameOfLeg(Leg l){
static const char * legNames[NUM_LEGS + 1] = {
"Left Fore", //LEFT_FORE
"Right Fore", //RIGHT_FORE
"Left Hind", //LEFT_HIND
"Right Hind", //RIGHT_HIND
"Undefined"
};
//oncly consider index in range [0 NUM_LEGS], defaulting to NUM_LEGS if out of bound.
int index((l < 0 ) ? NUM_LEGS : (l > NUM_LEGS ? NUM_LEGS : l));
return legNames[index];
}
Oncilla::Oncilla(){
if(!s_synchronizer){
if(!d_backend){
BackendLoader bl;
//we have to keep alive the pointer or dlclose() will be called once
//We free him. Or we could add BackendLoader as a member of Oncilla
// I prefer only to have the Object creator interface.
d_backend = bl.SuitableBackend();
}
s_synchronizer = d_backend->CreateSynchronizer();
init();
}
}
Oncilla::~Oncilla() {
}
void Oncilla::init() {
d_L0s.reserve(4);
d_L1s.reserve(4);
d_L2s.reserve(4);
d_L3s.reserve(4);
LIBONCILLA_FOREACH_LEG(l){
d_L0s.push_back(d_backend->CreateL0(l,Oncilla::nameOfLeg(l) + " Oncilla L0"));
d_L1s.push_back(d_backend->CreateL1(l,Oncilla::nameOfLeg(l) + " Oncilla L1"));
d_L2s.push_back(d_backend->CreateL2(l,Oncilla::nameOfLeg(l) + " Oncilla L2"));
d_L3s.push_back(d_backend->CreateL3(l,Oncilla::nameOfLeg(l) + " Oncilla L3"));
}
d_trunk = d_backend->CreateTrunk();
d_supervisor = Supervisor::Ptr(new Supervisor(*d_backend));
s_synchronizer->calibrateIfNeeded();
}
const L0::Ptr & Oncilla::getL0(Leg l) const {
return this->d_L0s[l];
}
const L1::Ptr & Oncilla::getL1(Leg l) const {
return this->d_L1s[l];
}
const L2::Ptr & Oncilla::getL2(Leg l) const {
return this->d_L2s[l];
}
const L3::Ptr & Oncilla::getL3(Leg l) const {
return this->d_L3s[l];
}
const Trunk::Ptr & Oncilla::getTrunk() const {
return this->d_trunk;
}
const rci::oncilla::Synchronizer::Ptr & Oncilla::getSynchronizer() const {
if(!s_synchronizer){
throw std::logic_error("Internal error : synchronizer seems unitialized"
", but it should never happen. Please report this bug.");
}
return this->s_synchronizer;
}
const rci::oncilla::Supervisor::Ptr & Oncilla::getSupervisor() const {
return d_supervisor;
}
}
}
Event Timeline
Log In to Comment