Robot Simulator of the Robotics Group for Self-Organization of Control: plotoption.h Source File

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# plotoption.h

Go to the documentation of this file.

    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *    guettler@informatik.uni-leipzig.de                                   *
    00007  *    joergweide84@aol.com (robot12)                                       *
    00008  *                                                                         *
    00009  *   This program is free software; you can redistribute it and/or modify  *
    00010  *   it under the terms of the GNU General Public License as published by  *
    00011  *   the Free Software Foundation; either version 2 of the License, or     *
    00012  *   (at your option) any later version.                                   *
    00013  *                                                                         *
    00014  *   This program is distributed in the hope that it will be useful,       *
    00015  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00016  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00017  *   GNU General Public License for more details.                          *
    00018  *                                                                         *
    00019  *   You should have received a copy of the GNU General Public License     *
    00020  *   along with this program; if not, write to the                         *
    00021  *   Free Software Foundation, Inc.,                                       *
    00022  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00023  ***************************************************************************
    00024  *                                                                         *
    00025  *  DESCRIPTION                                                            *
    00026  *                                                                         *
    00027  *                                                                         *
    00028  *                                                                         *
    00029  *  $Log: plotoption.h,v $
    00030  *  Revision 1.4  2009/10/27 11:44:30  robot14
    00031  *  matrixvis added
    00032  *
    00033  *  Revision 1.3  2009/08/05 22:53:02  martius
    00034  *  redesigned
    00035  *   works as a stand alone object now
    00036  *   added init function
    00037  *   configurables are now in engine and not in plotoptions
    00038  *   works with wiredcontroller
    00039  *
    00040  *  Revision 1.2  2009/07/21 08:50:16  robot12
    00041  *  finish of the split
    00042  *  to do: add some comments....
    00043  *
    00044  *  Revision 1.1  2009/06/02 09:55:24  robot12
    00045  *  Splitting of WiredController and PlotOption into WiredController : public PlotOptionEngine and
    00046  *  PlotOption (used by ga_tools). Further refactorings needed.
    00047  *                                                                                 *
    00048  *                                                                         *
    00049  **************************************************************************/
    00050
    00051
    00052 #ifndef PLOTOPTION_H_
    00053 #define PLOTOPTION_H_
    00054
    00055 #include <stdio.h>
    00056 #include <list>
    00057 #include <utility>
    00058 #include <string>
    00059
    00060 class Configurable;
    00061 class Inspectable;
    00062
    00063 /** Output mode for agent.
    00064  */
    00065 enum PlotMode {
    00066   /// dummy (does nothing) is there for compatibility, might be removed later
    00067   NoPlot,
    00068   /// write into file
    00069   File,
    00070   /// plotting with guilogger (gnuplot)
    00071   GuiLogger,
    00072   /// plotting with guiscreen (gnuplot) in file logging mode
    00073   GuiLogger_File,
    00074   /// plotting with matrixVisualiser
    00075   MatrixVis,
    00076   /// net visualiser
    00077   NeuronViz,
    00078
    00079   /// Acustic output of robotic values via external SoundMan
    00080   SoundMan,
    00081
    00082   /// gui for ECBRobots (see lpzrobots/ecbrobots), should be usable with OdeRobots, too
    00083   ECBRobotGUI,
    00084
    00085   /// dummy used for upper bound of plotmode type
    00086   LastPlot
    00087 };
    00088
    00089
    00090 /** This class contains options for the use of an external plot utility like guilogger or neuronviz
    00091     or just simply file output
    00092  */
    00093 class PlotOption {
    00094 public:
    00095   friend class WiredController;
    00096   friend class PlotOptionEngine;
    00097
    00098   PlotOption(){ mode=NoPlot; interval=1; pipe=0; parameter="";}
    00099   /**
    00100      creates a new plotting object
    00101      @param mode output type @see PlotMode
    00102      @param interval every i-th step is plotted
    00103      @param parameter free parameters for plotting tool
    00104      Note: the argument whichSensor is removed. You can adjust this in the wirings now.
    00105    */
    00106   PlotOption( PlotMode mode, int interval = 1, std::string parameter="")
    00107     : interval(interval), mode(mode), parameter(parameter)
    00108   {
    00109     pipe=0;
    00110   }
    00111
    00112   virtual ~PlotOption(){}
    00113
    00114   virtual PlotMode getPlotOptionMode() const { return mode; }
    00115   // flushes pipe (depending on mode)
    00116   virtual void flush(long step);
    00117
    00118   /// nice predicate function for finding by mode
    00119   struct matchMode : public std::unary_function<const PlotOption&, bool> {
    00120     matchMode(PlotMode mode) : mode(mode) {}
    00121     int mode;
    00122     bool operator()(const PlotOption& m) { return (m.mode == mode); }
    00123
    00124   };
    00125
    00126   void addConfigurable(const Configurable*);
    00127   void setName(const std::string& name) { this->name = name;}
    00128
    00129   bool open(); ///< opens the connections to the plot tool
    00130   void close();///< closes the connections to the plot tool
    00131
    00132   FILE* pipe;
    00133   long t;
    00134   int interval;
    00135   std::string name;
    00136
    00137 private:
    00138
    00139   PlotMode mode;
    00140   std::string parameter; ///< additional parameter for external command
    00141 };
    00142
    00143 #endif /* PLOTOPTION_H_ */