SimulationMgr.cpp

#include "StdAfx.h"
#include "IMovableItemCallback.h"
#include "ISimGUICallback.h"
#include "IMotorizedJoint.h"
#include "AnimatBase.h"

#include "Node.h"
#include "Link.h"
#include "IPhysicsMovableItem.h"
#include "IPhysicsBody.h"
#include "BoundingBox.h"
#include "MovableItem.h"
#include "BodyPart.h"
#include "Joint.h"
#include "ReceptiveField.h"
#include "ContactSensor.h"
#include "RigidBody.h"
#include "Structure.h"
#include "NeuralModule.h"
#include "Adapter.h"
#include "NervousSystem.h"
#include "Organism.h"
#include "ActivatedItem.h"
#include "ActivatedItemMgr.h"
#include "DataChartMgr.h"
#include "ExternalStimuliMgr.h"
#include "KeyFrame.h"
#include "SimulationRecorder.h"
#include "OdorType.h"
#include "Odor.h"
#include "Light.h"
#include "LightManager.h"
#include "Simulator.h"
#include "SimulationThread.h"
#include "SimulationMgr.h"

#include "RobotInterface.h"
#include "RobotIOControl.h"
#include "RobotPartInterface.h"

namespace AnimatSim
{

static Simulator *g_lpActiveSim = NULL;

SimulationMgr::SimulationMgr(void)
{
}

SimulationMgr::~SimulationMgr(void)
{
try
{
        ShutdownAllSimulations();
}
catch(...)
{Std_TraceMsg(0, "Caught Error in desctructor of SimulationMgr\r\n", "", -1, false, true);}
}

SimulationMgr &SimulationMgr::Instance()
{
        static SimulationMgr g_SimMgrInstance;
        return g_SimMgrInstance;
}

void ActiveSim(Simulator *lpActive)
{
        g_lpActiveSim = lpActive;
}

Simulator *ActiveSim()
{
        return g_lpActiveSim;
}

SimulationThread *SimulationMgr::CreateSimulation(std::string strSimFile, bool bForceNoWindows)
{
        SimulationThread *lpThread = NULL;
        
        try
        {
                lpThread = new SimulationThread();
                lpThread->StartSimulation(strSimFile, bForceNoWindows);
                m_arySimThreads.Add(lpThread);
                return lpThread;
        }
        catch(CStdErrorInfo oError)
        {
                if(lpThread) delete lpThread;
                RELAY_ERROR(oError);
                return NULL;
        }
        catch(...)
        {
                if(lpThread) delete lpThread;
                THROW_ERROR(Al_Err_lUnknownError, Al_Err_strUnknownError);
                return NULL;
        }
}

void SimulationMgr::ShutdownAllSimulations()
{
        int iSize = m_arySimThreads.GetSize();
        for(int iIdx=0; iIdx<iSize; iIdx++)
                m_arySimThreads[iIdx]->ShutdownSimulation();

        m_arySimThreads.RemoveAll();
}

AnimatBase *SimulationMgr::FindByID(std::string strID, bool bThrowError)
{
        AnimatBase *lpFound = NULL;
        int iSize = m_arySimThreads.GetSize();
        for(int iIdx=0; iIdx<iSize; iIdx++)
        {
                Simulator *lpSim = m_arySimThreads[iIdx]->Sim();
                if(lpSim)
                        lpFound = lpSim->FindByID(strID, false);
                if(lpFound)
                        return lpFound;
        }

        if(bThrowError)
                THROW_PARAM_ERROR(Al_Err_lIDNotFound, Al_Err_strIDNotFound, "ID", strID);

        return NULL;
}


}