src/controllers/almControllers.cpp

// General files
#include <iostream>

// Delta3D files
#include <dtGame/gamemanager.h>

// Plugin files
#include <controllers/almControllers.h>

// Plugin implementations of controllers
#include <controllers/fitnessFramework/evolutionComponent.h>
#include <controllers/fitnessFramework/choreoFitness.h>
#include <controllers/fitnessFramework/almChoreoAgent.h>
#include <controllers/sensorFusion/learningVisionAgent.h>
//#include "sensorFusionComponent/sensorFusionComponent.h"

using namespace std;

using namespace srAlmende;

void AlmendeControllers::addComponent(const char* controllerType, const char* controllerName,
                dtGame::GameManager* gameManager, const char* parameters) {

        if (strncmp(controllerType, "Almende:Evolution", strlen("Almende:Evolution")) == 0) {
                dtCore::RefPtr<srAlmende::EvolutionComponent> evoComp =
                                new srAlmende::EvolutionComponent("EvolutionComponent", 4444);
                cout << "Add the EvolutionComponent '" << evoComp->GetName() << "' to the GameManager" << endl;
                gameManager->AddComponent(*evoComp, dtGame::GameManager::ComponentPriority::NORMAL);
        }

        else if (strncmp(controllerType, "Almende:Fitness:Choreo", strlen("Almende:Fitness:Choreo")) == 0) {
                dtCore::RefPtr<srAlmende::ChoreoFitness> fitComp =
                                new srAlmende::ChoreoFitness("ChoreoFitness");
                cout << "Add the FitnessComponent '" << fitComp->GetName() << "' to the GameManager" << endl;
                gameManager->AddComponent(*fitComp, dtGame::GameManager::ComponentPriority::NORMAL);
        }

}

void AlmendeControllers::addController(const char* controllerType, const char* controllerName,
                srCore::RobotActorBase& robotToControl, const char* parameters) {
        std::ostringstream msg; msg.clear(); msg.str("");

        if (strncmp(controllerType, "Almende:Agent:Choreo", strlen("Almende:Agent:Choreo")) == 0) {

                dtCore::RefPtr<AlmChoreoAgent> choreoAgent =
                                new AlmChoreoAgent(controllerName, &robotToControl);
                msg << "Add AlmChoreoAgent " << controllerName << " to the GameManager";
                LOG_INFO(msg.str());
                robotToControl.GetGameActorProxy().GetGameManager()->AddComponent(*choreoAgent,
                                dtGame::GameManager::ComponentPriority::NORMAL);
        }
        else if (strncmp(controllerType, LearningVisionAgent::TYPE.c_str(),
                        strlen(LearningVisionAgent::TYPE.c_str())) == 0) {

                dtCore::RefPtr<LearningVisionAgent> lvAgent =
                                new LearningVisionAgent(controllerName, &robotToControl);
                msg << "Add LearningVisionAgent " << controllerName << " to the GameManager";
                LOG_INFO(msg.str());
                robotToControl.GetGameActorProxy().GetGameManager()->AddComponent(*lvAgent,
                                dtGame::GameManager::ComponentPriority::NORMAL);
        }

        //      else
        //      if(strncmp(controllerType, "ALMTed:SensorFusion", strlen("ALMTed:SensorFusion")) == 0) {
        //              dtCore::RefPtr<almendeSensorFusion::DetectRobotVisually> sfComp =
        //                                      new almendeSensorFusion::DetectRobotVisually(controllerName, &robotToControl);
        //              cout << "Add ALMTedSensorFusion " << controllerName << " to the GameManager" << endl;
        //              robotToControl.GetGameActorProxy().GetGameManager()->AddComponent(*sfComp,
        //                              dtGame::GameManager::ComponentPriority::NORMAL);
        //      }
}

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