#include <Adapter.h>

Inheritance diagram for AnimatSim::Adapters::Adapter:

Collaboration diagram for AnimatSim::Adapters::Adapter:

Public Member Functions
	Adapter ()
	Default constructor. More...

virtual	~Adapter ()
	Destructor. More...

virtual void	AddExternalNodeInput (int iTargetDataType, float fltInput)
	Adds an external node input. More...

virtual bool	ConnectedToPhysics ()
	Returns whether or not this adpater is connected to a physics object or not. More...

virtual float	DelayBufferInterval ()
	Returns the time interval used for the delay buffer if this adapter is set to use one. More...

virtual void	DelayBufferInterval (float fltVal)
	Sets the time interval used for the delay buffer if this adapter is set to use one. More...

virtual eDelayBufferMode	DelayBufferMode ()
	Returns the mode for the delay buffer. More...

virtual void	DelayBufferMode (eDelayBufferMode eMode)
	Sets the target data type. More...

virtual void	DetachAdaptersFromSimulation ()

virtual float *	GetDataPointer (const std::string &strDataType)
	Returns a float pointer to a data item of interest in this object. More...

virtual Gain *	GetGain ()
	Gets the poitner to the gain function. More...

virtual void	Initialize ()
	Initializes this object. More...

virtual float	InitIODisableDuration ()
	Gets the duration for how long this adapter is disabled at the start of the simulation. More...

virtual void	InitIODisableDuration (float fltVal)
	Sets the duration for how long this adapter is disabled at the start of the simulation. More...

virtual void	Load (CStdXml &oXml)

virtual void	QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)
	Queries this object for a list of properties that can be changed using SetData. More...

virtual void	ResetSimulation ()
	Resets the simulation back to time 0. More...

virtual float	RobotIOScale ()
	Gets the scale value used for calculated values for this adapter during simulation mode only. More...

virtual void	RobotIOScale (float fltVal)
	Sets the scale value used for calculated values for this adapter during simulation mode only. More...

virtual bool	SetData (const std::string &strDataType, const std::string &strValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual void	SetGain (Gain *lpGain)

virtual std::string	SourceDataType ()
	Gets the source data type. More...

virtual void	SourceDataType (std::string strType)
	Sets the source data type. More...

virtual std::string	SourceID ()
	Gets the GUID ID of the source node where we will get the source data variable. More...

virtual void	SourceID (std::string strID)
	Sets the GUID ID of the Source node. More...

virtual std::string	SourceModule ()
	Gets the name of the source NeuralModule. More...

virtual void	SourceModule (std::string strName)
	Sets the Source NeuralModule name. More...

virtual Node *	SourceNode ()
	Gets the source node. More...

virtual void	StepSimulation ()
	Step the simulation for this object. More...

virtual float	SynchUpdateInterval ()
	This is how often we need to update this particular adapter. More...

virtual void	SynchUpdateInterval (float fltVal)
	Determines how often we need to update this particular adapter. More...

virtual float	SynchUpdateStartInterval ()
	This is the interval that this adapter waits the first time before doing its update. More...

virtual void	SynchUpdateStartInterval (float fltVal)
	This is the interval that this adapter waits the first time before doing its update. More...

virtual bool	SynchWithRobot ()
	Gets whether the m_bRobotAdpaterSynch flag applies to this adapter. More...

virtual void	SynchWithRobot (bool bVal)
	Determines whether the m_bRobotAdpaterSynch flag applies to this adapter. More...

virtual std::string	TargetDataType ()
	Gets the target data type. More...

virtual void	TargetDataType (std::string strType)
	Sets the target data type. More...

virtual std::string	TargetID ()
	Gets the GUID ID of the target node where we will add the transformed data variable. More...

virtual void	TargetID (std::string strID)
	Sets the GUID ID of the target node. More...

virtual std::string	TargetModule ()
	Gets the name of the target NeuralModule. More...

virtual void	TargetModule (std::string strName)
	Sets the target NeuralModule name. More...

virtual Node *	TargetNode ()
	Gets the target node. More...

virtual void	TimeStepModified ()
	If the time step is modified then we need to recalculate the length of the delay buffer. More...

Public Member Functions inherited from AnimatSim::Node
	Node ()
	Default constructor. More...

virtual	~Node ()
	Destructor. More...

virtual void	Copy (CStdSerialize *lpSource)

virtual bool	Enabled ()
	Tells whether this node is enabled. More...

virtual void	Enabled (bool bValue)
	Enables the node. More...

virtual int	GetTargetDataTypeIndex (const std::string &strDataType)
	Used to convert a string target data type into an integer index. More...

virtual void	Kill (bool bState=true)
	Kills. More...

virtual void	SetSystemPointers (Simulator lpSim, Structure lpStructure, NeuralModule lpModule, Node lpNode, bool bVerify)
	Sets the system pointers. More...

virtual void	VerifySystemPointers ()
	Verify that system pointers have been set correctly. More...

Public Member Functions inherited from AnimatSim::AnimatBase
	AnimatBase ()
	Constructs an AnimatBase object. More...

virtual	~AnimatBase ()
	Destroys the AnimatBase object.. More...

virtual bool	AddItem (const std::string &strItemType, const std::string &strXml, bool bThrowError=true, bool bDoNotInit=false)
	Adds a new object to this parent. More...

virtual void	AfterResetSimulation ()
	Called after a simulation reset for some objects. More...

virtual long	CalculateSnapshotByteSize ()
	Calculates the snapshot byte size. More...

virtual NeuralModule *	GetNeuralModule ()
	Gets the neural module. More...

virtual Node *	GetNode ()
	Gets the node. More...

virtual Simulator *	GetSimulator ()
	Gets the simulator pointer. More...

virtual Structure *	GetStructure ()
	Gets the structure for this node. More...

virtual bool	HasProperty (const std::string &strName)
	Queries this object if it has a property with the given name. More...

virtual std::string	ID ()
	Gets the unique GUID ID of this object. More...

virtual void	ID (std::string strValue)
	Sets the unique GUID ID of the object. More...

virtual void	Load (StdUtils::CStdXml &oXml)
	Loads the item using an XML data packet. More...

virtual void	LoadKeyFrameSnapshot (byte *aryBytes, long &lIndex)
	Loads a key frame snapshot. More...

virtual std::string	Name ()
	Gets the name of this object. More...

virtual void	Name (std::string strValue)
	Sets the name of the object. Blank is acceptable. More...

virtual AnimatPropertyType	PropertyType (const std::string &strName)

virtual void	ReInitialize ()
	Re-initialize this object. More...

virtual bool	RemoveItem (const std::string &strItemType, const std::string &strID, bool bThrowError=true)
	Removes a child item from this parent. More...

virtual void	Reset ()
	Resets this object. More...

virtual void	RigidBodyAdded (std::string strID)

virtual void	RigidBodyRemoved (std::string strID)

virtual void	SaveKeyFrameSnapshot (byte *aryBytes, long &lIndex)
	Saves a key frame snapshot. More...

virtual bool	Selected ()
	Tells if this items is selected or not. More...

virtual void	Selected (bool bValue, bool bSelectMultiple)
	Selects this object. More...

virtual bool	SetData (const std::string &strDataType, const float fltValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual bool	SetData (const std::string &strDataType, const long lValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual void	SimPausing ()
	Called just before the simulation pauses. More...

virtual void	SimStarting ()
	Called just before the simulation starts. More...

virtual void	SimStopping ()
	Called just before the simulation stops. More...

virtual std::string	Type ()
	returns the string type name of this object. More...

virtual void	Type (std::string strValue)
	Sets the class type for this object. More...

virtual void	VisualSelectionModeChanged (int iNewMode)
	Visual selection mode changed. More...

Static Public Member Functions
static Adapter *	CastToDerived (AnimatBase *lpBase)

Static Public Member Functions inherited from AnimatSim::Node
static Node *	CastToDerived (AnimatBase *lpBase)

Protected Member Functions
virtual void	AddGain (std::string strXml)
	Creates and adds a gain object. More...

virtual void	ApplyExternalNodeInput (int iTargetDataType, float fltNextVal)

virtual bool	NeedsRobotSynch ()

virtual void	SetDelayBufferSize ()

virtual void	SetDestinationID (std::string strXml)

virtual void	SetOriginID (std::string strXml)

Protected Member Functions inherited from AnimatSim::Node
virtual void	UpdateData ()
	Updates any reporting data for this time step. More...

Protected Attributes
CStdCircularArray< float >	m_aryDelayBuffer

bool	m_bConnectedToPhysics

bool	m_bSynchWithRobot

eDelayBufferMode	m_eDelayBufferMode

float	m_fltCalculatedVal
	This is the value that will was calculated for this adpater. If you are using a delay buffer this may be different than m_fltNextVal.

float	m_fltDelayBufferInterval

float	m_fltInitIODisableDuration

float	m_fltNextVal
	This is the value that will be passed into the adpters target.

float	m_fltRobotIOScale

float	m_fltSynchUpdateInterval
	This is how often we need to update this particular adapter.

float	m_fltSynchUpdateStartInterval

float	m_fltUpdatedValue
	Set to 1 each time the adapter was updated and 0 otherwise. Use to chart when the adpater was updated.

int	m_iSynchCount
	Keeps track of the last time we did a synch for the robot.

int	m_iSynchTarget
	The target count for synching.

int	m_iSynchUpdateInterval
	The number of ticks between each call to update for this adapter till the next update time.

int	m_iSynchUpdateStartInterval
	The number of ticks between the first call to update for this adapter till the next update time.

int	m_iTargetDataType
	The m_strTargetDataType string is converted to an integer for use within the simulation loop to maximixe speed.

Gain *	m_lpGain
	Pointer to the Gain that will be used to convert the source value into the target value.

float *	m_lpSourceData
	Pointer to the source data varaible.

Node *	m_lpSourceNode
	Pointer to the source node.

Node *	m_lpTargetNode
	Pointer to the target node.

std::string	m_strSourceDataType
	DateType of the source variable that will be converted. This is retrieved using the GetDataPointer method.

std::string	m_strSourceID
	GUID ID of the source node.

std::string	m_strSourceModule
	Name of the source NeuralModule.

std::string	m_strTargetDataType

std::string	m_strTargetID
	GUID ID of the target node.

std::string	m_strTargetModule
	Name of the target NeuralModule.

Protected Attributes inherited from AnimatSim::Node
bool	m_bInitEnabled
	Keeps track of the enabled state at sim startup.

float	m_fltEnabled
	This is used for reporting the enabled state in a GetDataPointer call.

Organism *	m_lpOrganism
	The pointer to this node's organism.

Protected Attributes inherited from AnimatSim::AnimatBase
bool	m_bEnabled
	Tells if this item is enabled or not. If it is not enabled then it is not run.

bool	m_bSelected
	Tells whether the object is selected or not.

AnimatSim::Behavior::NeuralModule *	m_lpModule
	The pointer to this items parentNeuralModule. If this is not relevant for this object then this is NULL.

Node *	m_lpNode
	The pointer to this items parent Node. If this is not relevant for this object then this is NULL.

Simulator *	m_lpSim
	The pointer to a Simulation.

AnimatSim::Environment::Structure *	m_lpStructure
	The pointer to this items parent Structure. If this is not relevant for this object then this is NULL.

std::string	m_strID
	The unique Id for this object.

std::string	m_strName
	The name for this object.

std::string	m_strType
	The type for this object. Examples are Box, Plane, Neuron, etc..

Detailed Description

Adapter.

Adapters are generalized mechanism that allows items in one module to talk to items in another. For example, It allows a neuron in a firing rate neural module to inject current into an integrate and fire neuron, or to talk to the physics engine.

Author: dcofer

Date: 2/28/2011

Definition at line 39 of file Adapter.h.

Constructor & Destructor Documentation

AnimatSim::Adapters::Adapter::Adapter ( )

Default constructor.

Author: dcofer

Date: 3/18/2011

Definition at line 52 of file Adapter.cpp.

References m_bConnectedToPhysics, m_bSynchWithRobot, m_fltCalculatedVal, m_fltInitIODisableDuration, m_fltNextVal, m_fltRobotIOScale, m_fltSynchUpdateInterval, m_fltSynchUpdateStartInterval, m_fltUpdatedValue, m_iSynchCount, m_iSynchTarget, m_iSynchUpdateInterval, m_iSynchUpdateStartInterval, m_iTargetDataType, m_lpGain, m_lpSourceData, m_lpSourceNode, and m_lpTargetNode.

AnimatSim::Adapters::Adapter::~Adapter ( )

virtual

Destructor.

Author: dcofer

Date: 3/18/2011

Definition at line 82 of file Adapter.cpp.

References m_lpGain, m_lpSourceData, m_lpSourceNode, m_lpTargetNode, and StdUtils::Std_TraceMsg().

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Member Function Documentation

void AnimatSim::Adapters::Adapter::AddExternalNodeInput	(	int	iTargetDataType,
		float	fltInput
	)

virtual

Adds an external node input.

This is used by the adapter to add a new external value to this node. It is up to the node to interpret what that value means. For example, if it is a neuron then it can interpret it to be a current. This value is added to the current total so that multiple adapters can call this in a given time step. It is cleared out to zero at the beginning of the time step. You can now also specify which data you are adding to for this method call. This allows adapters to be setup to change multiple different variables in the system.

Author: dcofer

Date: 6/16/2014

Parameters

iTargetDataType	The index of the target data type we are adding to.
fltInput	The new input.

Implements AnimatSim::Node.

Definition at line 539 of file Adapter.cpp.

void AnimatSim::Adapters::Adapter::AddGain ( std::string strXml )

protectedvirtual

Creates and adds a gain object.

Author: dcofer

Date: 3/2/2011

Parameters

strXml The xml data packet for loading the gain.

Definition at line 570 of file Adapter.cpp.

References StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindChildElement(), StdUtils::CStdXml::FindElement(), AnimatSim::Gains::LoadGain(), and AnimatSim::AnimatBase::m_lpSim.

Referenced by SetData().

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bool AnimatSim::Adapters::Adapter::ConnectedToPhysics ( )

virtual

Returns whether or not this adpater is connected to a physics object or not.

Author: dcofer

Date: 5/13/2014

Returns: Pointer to the gain.

Definition at line 295 of file Adapter.cpp.

References m_bConnectedToPhysics.

float AnimatSim::Adapters::Adapter::DelayBufferInterval ( )

virtual

Returns the time interval used for the delay buffer if this adapter is set to use one.

Author: dcofer

Date: 5/15/2014

Returns: interval.

Definition at line 336 of file Adapter.cpp.

Referenced by SetData().

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void AnimatSim::Adapters::Adapter::DelayBufferInterval ( float fltVal )

virtual

Sets the time interval used for the delay buffer if this adapter is set to use one.

Author: dcofer

Date: 3/18/2011

Parameters

fltVal new time step.

Definition at line 346 of file Adapter.cpp.

References StdUtils::Std_IsAboveMin().

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eDelayBufferMode AnimatSim::Adapters::Adapter::DelayBufferMode ( )

virtual

Returns the mode for the delay buffer.

This is what determines whether a delay buffer is used at all or only during the simulation. See eDelayBufferMode.

Author: dcofer

Date: 5/15/2014

Returns: mode.

Definition at line 307 of file Adapter.cpp.

Referenced by SetData().

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void AnimatSim::Adapters::Adapter::DelayBufferMode ( eDelayBufferMode eMode )

virtual

Sets the target data type.

This is what determines whether a delay buffer is used at all or only during the simulation. See eDelayBufferMode.

Author: dcofer

Date: 3/18/2011

Parameters

eMode new mode.

Definition at line 322 of file Adapter.cpp.

float * AnimatSim::Adapters::Adapter::GetDataPointer ( const std::string & strDataType )

virtual

Returns a float pointer to a data item of interest in this object.

This is a generic method used to get a pointer to data variable of interest. It is used by a variety of systems in the simulation. The most prominent are the data charting and stimulus classes. Within this method we associate a variable with a string name. By passing in the name of the data type we are interested in we can recieve back a float pointer to that data type. We can use that to read or set the data item in other classes. For example, the data charting system gets the pointer and then each time it needs to log a data point it reads the value into an array.

Author: dcofer

Date: 2/22/2011

Parameters

strDataType name of the data item for which we are looking.

Returns: float pointer of the data item. If not found then it throws an exception.

Exceptions

If	DataType is not found.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 544 of file Adapter.cpp.

References AnimatSim::AnimatBase::GetDataPointer(), m_fltCalculatedVal, AnimatSim::Node::m_fltEnabled, m_fltNextVal, m_fltUpdatedValue, and StdUtils::Std_CheckString().

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Gain * AnimatSim::Adapters::Adapter::GetGain ( )

virtual

Gets the poitner to the gain function.

Author: dcofer

Date: 3/18/2011

Returns: Pointer to the gain.

Definition at line 273 of file Adapter.cpp.

References m_lpGain.

void AnimatSim::Adapters::Adapter::Initialize ( )

virtual

Initializes this object.

After an object is loaded in it must be initialized before it can be used. This allows the object to retrieve any pointers or setup memory that it will need during execution. Each object is responsible for initializing any of its child objects, so you simply need to call this method on the containing class to init all child objects. It also calls VerifySystemPointers to make sure that the system pointers have been setup correctly.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Adapters::PropertyControlAdapter, AnimatSim::Adapters::ContactAdapter, and AnimatCarlSim::CsAdapter.

Definition at line 786 of file Adapter.cpp.

References AnimatSim::Simulator::FindByID(), AnimatSim::AnimatBase::GetDataPointer(), AnimatSim::Node::GetTargetDataTypeIndex(), AnimatSim::AnimatBase::ID(), AnimatSim::AnimatBase::Initialize(), m_bConnectedToPhysics, m_fltSynchUpdateInterval, m_fltSynchUpdateStartInterval, m_iTargetDataType, AnimatSim::AnimatBase::m_lpSim, m_lpSourceData, m_lpSourceNode, AnimatSim::AnimatBase::m_lpStructure, m_lpTargetNode, AnimatSim::AnimatBase::m_strID, m_strSourceDataType, m_strSourceID, m_strTargetDataType, m_strTargetID, SynchUpdateInterval(), and SynchUpdateStartInterval().

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float AnimatSim::Adapters::Adapter::InitIODisableDuration ( )

virtual

Gets the duration for how long this adapter is disabled at the start of the simulation.

It is sometimes useful to disable IO operations briefly at the start of the simulation to give neural systems a chance to stabilize. This param defines how long it should disable IO for this adapter at the start of the sim..

Author: dcofer

Date: 6/11/2014

Returns: duration for which IO is disabled at the start of the simulation.

Definition at line 508 of file Adapter.cpp.

References m_fltInitIODisableDuration.

Referenced by SetData().

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void AnimatSim::Adapters::Adapter::InitIODisableDuration ( float fltVal )

virtual

Sets the duration for how long this adapter is disabled at the start of the simulation.

It is sometimes useful to disable IO operations briefly at the start of the simulation to give neural systems a chance to stabilize. This param defines how long it should disable IO for this adapter at the start of the sim..

Author: dcofer

Date: 6/11/2014

Parameters

fltVal duration for which IO is disabled at the start of the simulation.

Definition at line 524 of file Adapter.cpp.

References m_fltInitIODisableDuration, and StdUtils::Std_IsAboveMin().

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void AnimatSim::Adapters::Adapter::QueryProperties ( CStdPtrArray< TypeProperty > & aryProperties )

virtual

Queries this object for a list of properties that can be changed using SetData.

The method provides a list of the properties that can be set using the SetData method. It gives the property name and the type of data that should be passed to it. Valid date types are Boolean, Float, Integer, and Xml.

Author: dcofer

Date: 2/22/2011

Parameters

aryNames	Array list of the property names.
strTypes	Array list of the type that is associated with the cooresponding name in the list.

Returns: Nothing.

Reimplemented from AnimatSim::Node.

Reimplemented in AnimatSim::Adapters::PropertyControlAdapter.

Definition at line 700 of file Adapter.cpp.

References AnimatSim::Node::QueryProperties().

Referenced by AnimatSim::Adapters::PropertyControlAdapter::QueryProperties().

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void AnimatSim::Adapters::Adapter::ResetSimulation ( )

virtual

Resets the simulation back to time 0.

This method calls the ResetSimulation method on all subitems in order to reset the simulation back to the beginning.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::Node.

Reimplemented in AnimatSim::Adapters::PropertyControlAdapter, and AnimatCarlSim::CsAdapter.

Definition at line 753 of file Adapter.cpp.

References m_aryDelayBuffer, m_fltCalculatedVal, m_fltNextVal, m_fltUpdatedValue, m_iSynchCount, m_iSynchTarget, and AnimatSim::Node::ResetSimulation().

Referenced by AnimatSim::Adapters::PropertyControlAdapter::ResetSimulation().

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float AnimatSim::Adapters::Adapter::RobotIOScale ( )

virtual

Gets the scale value used for calculated values for this adapter during simulation mode only.

If you are modeling a robot then you can use this to scale the IO of this adapter to match the real response of the robot. An example where this might be used is while simulating a motor. Real motors usually end up having a slightly slower response time than you get in the simulation. The value specified here is a percentage with 1 at 100%. To slow the simulated response time down slightly you could set it to 0.95 instead. This will only be applied during the simulation, NOT during the running of the real robot. This is only so you can try and tune your simulation repsonse to more closely match the real robot response.

Author: dcofer

Date: 5/26/2014

Returns: IO percentage.

Definition at line 367 of file Adapter.cpp.

References m_fltRobotIOScale.

Referenced by SetData().

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void AnimatSim::Adapters::Adapter::RobotIOScale ( float fltVal )

virtual

Sets the scale value used for calculated values for this adapter during simulation mode only.

If you are modeling a robot then you can use this to scale the IO of this adapter to match the real response of the robot. An example where this might be used is while simulating a motor. Real motors usually end up having a slightly slower response time than you get in the simulation. The value specified here is a percentage with 1 at 100%. To slow the simulated response time down slightly you could set it to 0.95 instead. This will only be applied during the simulation, NOT during the running of the real robot. This is only so you can try and tune your simulation repsonse to more closely match the real robot response.

Author: dcofer

Date: 5/26/2014

Parameters

fltVal new IO percentage.

Definition at line 383 of file Adapter.cpp.

References m_fltRobotIOScale, and StdUtils::Std_IsAboveMin().

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bool AnimatSim::Adapters::Adapter::SetData	(	const std::string &	strDataType,
		const std::string &	strValue,
		bool	bThrowError = `true`
	)

virtual

Set a variable based on a string data type name.

This is a generic method that can be used to set any variable in an AnimatBase object by specifying the name of the variable and a string representation of that data. The GUI uses this method to set data into variables in the simulation when the user changes them in the UI. The value string can be as simple as a float or int, or as complex as an xml packet. It is the developers responsibilty to know what type of data is needed and to process it accordingly.

Author: dcofer

Date: 2/22/2011

Parameters

strDataType	string name of the data type to set.
strValue	The string value of the data. It is up to the developer to determine what this should be. For example, in most cases it is simply a float and you just have to convert it to a float and make the appropriate mutator method call. However, it can be any type of string, including an entire xml packet. It is the developers responsibility to know how to set and process the data as required.
bThrowError	true to throw error if there is a problem. If false then it will not return an error, just return false.

Returns: true if it succeeds, false if it fails.

Reimplemented from AnimatSim::Node.

Reimplemented in AnimatSim::Adapters::PropertyControlAdapter, and AnimatCarlSim::CsAdapter.

Definition at line 626 of file Adapter.cpp.

References AddGain(), DelayBufferInterval(), DelayBufferMode(), InitIODisableDuration(), RobotIOScale(), AnimatSim::Node::SetData(), StdUtils::Std_CheckString(), StdUtils::Std_ToBool(), SynchUpdateInterval(), SynchUpdateStartInterval(), and SynchWithRobot().

Referenced by AnimatSim::Adapters::PropertyControlAdapter::SetData().

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std::string AnimatSim::Adapters::Adapter::SourceDataType ( )

virtual

Gets the source data type.

Author: dcofer

Date: 3/18/2011

Returns: Source data type.

Definition at line 154 of file Adapter.cpp.

References m_strSourceDataType.

void AnimatSim::Adapters::Adapter::SourceDataType ( std::string strType )

virtual

Sets the source data type.

Author: dcofer

Date: 3/18/2011

Parameters

strType Source DataType.

Definition at line 164 of file Adapter.cpp.

References m_strSourceDataType, and StdUtils::Std_IsBlank().

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std::string AnimatSim::Adapters::Adapter::SourceID ( )

virtual

Gets the GUID ID of the source node where we will get the source data variable.

Author: dcofer

Date: 3/18/2011

Returns: GUID ID of the source node.

Definition at line 129 of file Adapter.cpp.

References m_strSourceID.

void AnimatSim::Adapters::Adapter::SourceID ( std::string strID )

virtual

Sets the GUID ID of the Source node.

Author: dcofer

Date: 3/18/2011

Parameters

strID GUID ID for the source node.

Definition at line 139 of file Adapter.cpp.

References m_strSourceID, and StdUtils::Std_IsBlank().

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std::string AnimatSim::Adapters::Adapter::SourceModule ( )

virtual

Gets the name of the source NeuralModule.

Author: dcofer

Date: 3/18/2011

Returns: Source NeuralModule name.

Reimplemented in AnimatSim::Adapters::ContactAdapter.

Definition at line 104 of file Adapter.cpp.

References m_strSourceModule.

void AnimatSim::Adapters::Adapter::SourceModule ( std::string strName )

virtual

Sets the Source NeuralModule name.

Author: dcofer

Date: 3/18/2011

Parameters

strName Name of the source NeuralModule.

Definition at line 114 of file Adapter.cpp.

References m_strSourceModule, and StdUtils::Std_IsBlank().

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Node * AnimatSim::Adapters::Adapter::SourceNode ( )

virtual

Gets the source node.

Author: dcofer

Date: 3/18/2011

Returns: Pointer to the source node.

Definition at line 179 of file Adapter.cpp.

References m_lpSourceNode.

void AnimatSim::Adapters::Adapter::StepSimulation ( )

virtual

Step the simulation for this object.

This is called on an object each time it is stepped in the simulation. this is where its simulation code is processed. However, StepSimulation is not necessarily called every single time that the simulation as a whole is stepped. A good example of this is that neural modules can have different integration time steps. So a firing rate module may have a DT of 0.5 ms, while an integrate and fire model may have one of 0.1 ms. So the firing rate module would only get its StepSimulation method called every 5th time that the other module was called. This is all handed in the StepSimulation method of the Simulator and NervousSystem.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Adapters::PropertyControlAdapter, and AnimatSim::Adapters::ContactAdapter.

Definition at line 825 of file Adapter.cpp.

References AnimatSim::Gains::Gain::CalculateGain(), AnimatSim::Simulator::InSimulation(), m_aryDelayBuffer, AnimatSim::AnimatBase::m_bEnabled, m_bSynchWithRobot, m_fltCalculatedVal, m_fltInitIODisableDuration, m_fltNextVal, m_fltRobotIOScale, m_fltUpdatedValue, m_iSynchCount, m_iSynchTarget, m_iSynchUpdateStartInterval, m_iTargetDataType, m_lpGain, AnimatSim::AnimatBase::m_lpSim, m_lpSourceData, AnimatSim::Simulator::RobotAdpaterSynch(), and AnimatSim::Simulator::Time().

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float AnimatSim::Adapters::Adapter::SynchUpdateInterval ( )

virtual

This is how often we need to update this particular adapter.

For example, if you are using a round robin scheme with a robot IO update time of 5 ms with 4 motors, then you would set this to be 20 ms.

Author: dcofer

Date: 6/30/2014

Returns: interval.

Definition at line 423 of file Adapter.cpp.

References m_fltSynchUpdateInterval.

Referenced by Initialize(), SetData(), and TimeStepModified().

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void AnimatSim::Adapters::Adapter::SynchUpdateInterval ( float fltVal )

virtual

Determines how often we need to update this particular adapter.

Author: dcofer

Date: 6/30/2014

Parameters

fltVal interval.

Definition at line 433 of file Adapter.cpp.

References m_fltSynchUpdateInterval, m_iSynchUpdateInterval, AnimatSim::AnimatBase::m_lpModule, AnimatSim::AnimatBase::m_lpSim, AnimatSim::Simulator::PhysicsTimeStep(), StdUtils::Std_IsAboveMin(), and AnimatSim::Behavior::NeuralModule::TimeStep().

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float AnimatSim::Adapters::Adapter::SynchUpdateStartInterval ( )

virtual

This is the interval that this adapter waits the first time before doing its update.

For example, if you are using a round robin scheme with a robot IO update time of 5 ms with 4 motors, then the update interval would be set to 20 ms. You would set the start interval of motor 1 to 0, motor 2 to 5 ms, motor 3 to 10 ms, and motor 4 to 15 ms. This would stagger them in a round robin fashion the same way it was being processed on the real robot.

Author: dcofer

Date: 6/30/2014

Returns: interval.

Definition at line 464 of file Adapter.cpp.

References m_fltSynchUpdateStartInterval.

Referenced by Initialize(), SetData(), and TimeStepModified().

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void AnimatSim::Adapters::Adapter::SynchUpdateStartInterval ( float fltVal )

virtual

This is the interval that this adapter waits the first time before doing its update.

For example, if you are using a round robin scheme with a robot IO update time of 5 ms with 4 motors, then the update interval would be set to 20 ms. You would set the start interval of motor 1 to 0, motor 2 to 5 ms, motor 3 to 10 ms, and motor 4 to 15 ms. This would stagger them in a round robin fashion the same way it was being processed on the real robot.

Author: dcofer

Date: 6/30/2014

Parameters

fltVal interval.

Definition at line 479 of file Adapter.cpp.

References m_fltSynchUpdateStartInterval, m_iSynchUpdateStartInterval, AnimatSim::AnimatBase::m_lpModule, AnimatSim::AnimatBase::m_lpSim, AnimatSim::Simulator::PhysicsTimeStep(), StdUtils::Std_IsAboveMin(), and AnimatSim::Behavior::NeuralModule::TimeStep().

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bool AnimatSim::Adapters::Adapter::SynchWithRobot ( )

virtual

Gets whether the m_bRobotAdpaterSynch flag applies to this adapter.

Adpaters between neural elements should not need to be synched because they are not dependent on IO timing. This flag allows you to control this by setting it to false for adapters that do not need it.

Author: dcofer

Date: 6/30/2014

Returns: Synch status of this adapter.

Definition at line 401 of file Adapter.cpp.

References m_bSynchWithRobot.

Referenced by SetData().

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void AnimatSim::Adapters::Adapter::SynchWithRobot ( bool bVal )

virtual

Determines whether the m_bRobotAdpaterSynch flag applies to this adapter.

Author: dcofer

Date: 6/30/2014

Parameters

bVal	Synch status of this adapter.

Definition at line 411 of file Adapter.cpp.

References m_bSynchWithRobot.

std::string AnimatSim::Adapters::Adapter::TargetDataType ( )

virtual

Gets the target data type.

Author: dcofer

Date: 3/18/2011

Returns: Target data type.

Definition at line 240 of file Adapter.cpp.

References m_strTargetDataType.

void AnimatSim::Adapters::Adapter::TargetDataType ( std::string strType )

virtual

Sets the target data type.

Author: dcofer

Date: 3/18/2011

Parameters

strType Target DataType.

Definition at line 250 of file Adapter.cpp.

References m_strTargetDataType.

std::string AnimatSim::Adapters::Adapter::TargetID ( )

virtual

Gets the GUID ID of the target node where we will add the transformed data variable.

Author: dcofer

Date: 3/18/2011

Returns: GUID ID of the target node.

Definition at line 214 of file Adapter.cpp.

References m_strTargetID.

Referenced by AnimatSim::Adapters::PropertyControlAdapter::TargetID().

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void AnimatSim::Adapters::Adapter::TargetID ( std::string strID )

virtual

Sets the GUID ID of the target node.

Author: dcofer

Date: 3/18/2011

Parameters

strID GUID ID for the target node.

Reimplemented in AnimatSim::Adapters::PropertyControlAdapter.

Definition at line 225 of file Adapter.cpp.

References m_strTargetID, and StdUtils::Std_IsBlank().

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std::string AnimatSim::Adapters::Adapter::TargetModule ( )

virtual

Gets the name of the target NeuralModule.

Author: dcofer

Date: 3/18/2011

Returns: Target NeuralModule name.

Reimplemented in AnimatSim::Adapters::ContactAdapter.

Definition at line 189 of file Adapter.cpp.

References m_strTargetModule.

void AnimatSim::Adapters::Adapter::TargetModule ( std::string strName )

virtual

Sets the target NeuralModule name.

Author: dcofer

Date: 3/18/2011

Parameters

strName Name of the target NeuralModule.

Reimplemented in AnimatSim::Adapters::ContactAdapter.

Definition at line 199 of file Adapter.cpp.

References m_strTargetModule, and StdUtils::Std_IsBlank().

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Node * AnimatSim::Adapters::Adapter::TargetNode ( )

virtual

Gets the target node.

Author: dcofer

Date: 3/18/2011

Returns: Pointer to the target node.

Definition at line 263 of file Adapter.cpp.

References m_lpTargetNode.

void AnimatSim::Adapters::Adapter::TimeStepModified ( )

virtual

If the time step is modified then we need to recalculate the length of the delay buffer.

If a neural module has been assigned to this adapter then that is its target module and we need to use the time step associated with it to determine how big the delay buffer should be in length. If the module is NULL then the target for this adapter is the physics engine and we should use the physics time step instead.

Author: dcofer

Date: 5/15/2014

Reimplemented from AnimatSim::AnimatBase.

Definition at line 729 of file Adapter.cpp.

References m_fltSynchUpdateInterval, m_fltSynchUpdateStartInterval, SynchUpdateInterval(), SynchUpdateStartInterval(), and AnimatSim::AnimatBase::TimeStepModified().

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Member Data Documentation

CStdCircularArray<float> AnimatSim::Adapters::Adapter::m_aryDelayBuffer

protected

This buffer is used if the adapter has been setup to have delays between calcuating values and setting them in the target object.

Definition at line 95 of file Adapter.h.

Referenced by ResetSimulation(), and StepSimulation().

bool AnimatSim::Adapters::Adapter::m_bConnectedToPhysics

protected

This is true if either the target or soruce are connected to the physics engine. It is false if target and source are neural only.

Definition at line 79 of file Adapter.h.

Referenced by Adapter(), ConnectedToPhysics(), and Initialize().

bool AnimatSim::Adapters::Adapter::m_bSynchWithRobot

protected

Determines whether the m_bRobotAdpaterSynch flag applies to this adapter. Adpaters between neural elements should not need to be synched because they are not dependent on IO timing. This flag allows you to control this by setting it to false for adapters that do not need it.

Definition at line 100 of file Adapter.h.

Referenced by Adapter(), StepSimulation(), and SynchWithRobot().

float AnimatSim::Adapters::Adapter::m_fltInitIODisableDuration

protected

It is sometimes useful to disable IO operations briefly at the start of the simulation to give neural systems a chance to stabilize. This param defines how long it should disable IO for this adapter at the start of the sim.

Definition at line 131 of file Adapter.h.

Referenced by Adapter(), InitIODisableDuration(), and StepSimulation().

float AnimatSim::Adapters::Adapter::m_fltRobotIOScale

protected

If you are modeling a robot then you can use this to scale the IO of this adapter to match the real response of the robot. An example where this might be used is while simulating a motor. Real motors usually end up having a slightly slower response time than you get in the simulation. The value specified here is a percentage with 1 at 100%. To slow the simulated response time down slightly you could set it to 0.95 instead. This will only be applied during the simulation, NOT during the running of the real robot. This is only so you can try and tune your simulation repsonse to more closely match the real robot response.

Definition at line 127 of file Adapter.h.

Referenced by Adapter(), RobotIOScale(), and StepSimulation().

float AnimatSim::Adapters::Adapter::m_fltSynchUpdateStartInterval

protected

This determines the interval after IO Disable duration when the first update of this adapter takes place. This is primarily used to allow you to simulate IO updates are that are distributed over time, like in a round robin scheme. An example of this is the Dynamixel USB motors that get updated in a round robin.

Definition at line 111 of file Adapter.h.

Referenced by Adapter(), Initialize(), SynchUpdateStartInterval(), and TimeStepModified().

std::string AnimatSim::Adapters::Adapter::m_strTargetDataType

protected

DateType of the target variable that will be converted. This is converted to an int and passed to AddExternalNodeInput to define where the input should be routed.

Definition at line 66 of file Adapter.h.

Referenced by Initialize(), and TargetDataType().

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation