ExternalInputStimulus.cpp

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#include "StdAfx.h"
#include "IMovableItemCallback.h"
#include "ISimGUICallback.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 "Gain.h"
#include "Adapter.h"
#include "Joint.h"
#include "ReceptiveField.h"
#include "ContactSensor.h"
#include "RigidBody.h"
#include "Structure.h"
#include "NeuralModule.h"
#include "NervousSystem.h"
#include "Organism.h"
#include "ActivatedItem.h"
#include "ActivatedItemMgr.h"
#include "DataChartMgr.h"
#include "ExternalStimuliMgr.h"
#include "ExternalStimulus.h"
#include "ExternalInputStimulus.h"
#include "KeyFrame.h"
#include "SimulationRecorder.h"
#include "OdorType.h"
#include "Odor.h"
#include "Light.h"
#include "LightManager.h"
#include "Simulator.h"

namespace AnimatSim
{
        namespace ExternalStimuli
        {
ExternalInputStimulus::ExternalInputStimulus()
{
        m_lpNode = NULL;
        m_lpEval = NULL;
        m_fltInput = 0;
}

ExternalInputStimulus::~ExternalInputStimulus()
{

try
{
        m_lpNode = NULL;
        if(m_lpEval) delete m_lpEval;
}
catch(...)
{Std_TraceMsg(0, "Caught Error in desctructor of ExternalInputStimulus\r\n", "", -1, false, true);}
}

std::string ExternalInputStimulus::Type() {return "ExternalInput";}

std::string ExternalInputStimulus::TargetNodeID() {return m_strTargetNodeID;}

void ExternalInputStimulus::TargetNodeID(std::string strID)
{
        if(Std_IsBlank(strID)) 
                THROW_ERROR(Al_Err_lBodyIDBlank, Al_Err_strBodyIDBlank);
        m_strTargetNodeID = strID;
}

float ExternalInputStimulus::Input() {return m_fltInput;}

void ExternalInputStimulus::Input(float fltVal) {m_fltInput = fltVal;}

std::string ExternalInputStimulus::InputEquation() {return m_strInputEquation;}

void ExternalInputStimulus::InputEquation(std::string strVal)
{
        //Initialize the postfix evaluator.
        if(m_lpEval) 
        {delete m_lpEval; m_lpEval = NULL;}

        m_lpEval = new CStdPostFixEval;

        m_lpEval->AddVariable("t");
        m_lpEval->AddVariable("x");
        m_lpEval->Equation(m_strInputEquation);
}

void ExternalInputStimulus::Initialize()
{
        ExternalStimulus::Initialize();

        m_lpNode = dynamic_cast<Node *>(m_lpSim->FindByID(m_strTargetNodeID));
        if(!m_lpNode)
                THROW_PARAM_ERROR(Al_Err_lNodeNotFound, Al_Err_strNodeNotFound, "ID: ", m_strTargetNodeID);
}

void ExternalInputStimulus::Activate()
{
        ExternalStimulus::Activate();
}

void ExternalInputStimulus::StepSimulation()
{
        try
        {
                m_lpEval->SetVariable("t", m_lpSim->Time());
                m_fltInput = m_lpEval->Solve();
                m_lpNode->AddExternalNodeInput(0, m_fltInput);
        }
        catch(...)
        {
                LOG_ERROR("Error Occurred while setting Joint Velocity");
        }
}

void ExternalInputStimulus::Deactivate()
{
        ExternalStimulus::Deactivate();
}

float *ExternalInputStimulus::GetDataPointer(const std::string &strDataType)
{
        float *lpData=NULL;
        std::string strType = Std_CheckString(strDataType);

        if(strType == "INPUT")
                lpData = &m_fltInput;
        else
                THROW_TEXT_ERROR(Al_Err_lInvalidDataType, Al_Err_strInvalidDataType, "StimulusName: " + STR(m_strName) + "  DataType: " + strDataType);

        return lpData;
} 

bool ExternalInputStimulus::SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError)
{
        std::string strType = Std_CheckString(strDataType);
        
        if(ExternalStimulus::SetData(strDataType, strValue, false))
                return true;

        if(strType == "INPUTEQUATION")
        {
                InputEquation(strValue);
                return true;
        }

        //If it was not one of those above then we have a problem.
        if(bThrowError)
                THROW_PARAM_ERROR(Al_Err_lInvalidDataType, Al_Err_strInvalidDataType, "Data Type", strDataType);

        return false;
}

void ExternalInputStimulus::QueryProperties(CStdPtrArray<TypeProperty> &aryProperties)
{
        ExternalStimulus::QueryProperties(aryProperties);

        aryProperties.Add(new TypeProperty("Input", AnimatPropertyType::Float, AnimatPropertyDirection::Get));

        aryProperties.Add(new TypeProperty("InputEquation", AnimatPropertyType::String, AnimatPropertyDirection::Set));
}

void ExternalInputStimulus::Load(CStdXml &oXml)
{
        ActivatedItem::Load(oXml);

        oXml.IntoElem();  //Into Simulus Element

        TargetNodeID(oXml.GetChildString("NodeID"));
        InputEquation(oXml.GetChildString("Input", "0"));

        oXml.OutOfElem(); //OutOf Simulus Element
}


        }                       //ExternalStimuli
}                               //VortexAnimatSim