basic/robots/RobotBase.cpp

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#include <assert.h>
#include "kinematics\dh_link.h"
#include "robots\r_openchain.h"
#include "robots\RobotBase.h"
#include "OpenGL\GL_Range_Sensor.h"
#include <stdio.h>

RobotBase::RobotBase (FrameManager* frameManager)
  : Entity( frameManager )
{
    //nothing
}

RobotBase::RobotBase (const RobotBase& right)
  : Entity( right )
{
    //nothing
}


RobotBase::~RobotBase()
{
    //nothing
}


// Additional Declarations
  //## begin RobotBase%3718ED6E02F8.declarations preserve=yes
//-----------------------------------------------------------------------------
bool RobotBase::Deserialize( IfstreamWithComments& is )
{
        return Entity::DeserializeEntity( is ) ;
};
//-----------------------------------------------------------------------------
RobotBase* RobotBase::DeserializeAbstract (IfstreamWithComments& is, FrameManager* frameManager)
{
        is.eatwhite() ;

        //read in the header - should say #robot
        char header[ 256 ] = "" ;
        is.GetSolidLine( header, 256 ) ;
        if( stricmp( header, "#robot" ) != 0 )
        {
        ::printf( "RobotBase::DeserializeAbstract - Bad Header '%s'\n", header );
        ::printf( "RobotBase::DeserializeAbstract - header length %d'\n", strlen( header ) );
                return NULL ;
        }

        //read in a line - this will tell us what type of robot it is
        char robotType[ 256 ] = "" ;
        is.GetSolidLine( robotType, 256 ) ;

        //depending on the type, read in the right type of robot
        RobotBase* robot = NULL ;
        if( stricmp( robotType, "#r_open_chain" ) == 0 )
        {
                robot = new R_OpenChain( frameManager )  ;
        }
        else
        {
                bool undefindedRobotType = false ;
                assert( undefindedRobotType ) ;
        }
        if (robot->Deserialize( is ) == false)
        {
                delete robot;
                return NULL;
        }
        
        eatwhite( is ) ;
        is.getline( robotType, 300, ' ' ) ;
        assert( strcmp( robotType, "#cameras" ) == 0 ) ;
        int numcameras = -1 ;
        is >> numcameras ;

        for (int i = 0; i < numcameras; i++)
        {
          GL_Range_Sensor* camera = NULL ;
          eatwhite( is ) ;
          is.getline( robotType, 300 ) ;
          if( stricmp( robotType, "#camera_jonathan" ) == 0 )   
          {
                camera = new GL_Range_Sensor( frameManager )  ;
          } 
          else
          {
                bool undefindedRobotType = false ;
                assert( undefindedRobotType ) ;
          }
          camera->Deserialize( is );
          std::list< LinkBase*> links = robot->GetAllLinks() ;
          std::list< LinkBase*>::iterator it = links.begin() ;
          int linknum = camera->BaseFrame() ;

          for( int j = 0; j < linknum; j++ )
          {
                  it++ ;
          }
          LinkBase* theLink = *it ;
          DH_Link* dhLink = dynamic_cast< DH_Link* >( theLink ) ;
          assert( dhLink != NULL ) ;
          dhLink->AddObject( camera ) ;
          delete camera;
        }

        return robot ;
}
//-----------------------------------------------------------------------------
  //## end RobotBase%3718ED6E02F8.declarations

//## begin module%3718ED6E02F8.epilog preserve=yes
//## end module%3718ED6E02F8.epilog

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