ControllerItem.h

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#ifndef CNOID_BODY_PLUGIN_CONTROLLER_ITEM_H
#define CNOID_BODY_PLUGIN_CONTROLLER_ITEM_H
 
#include "SimulatorItem.h"
#include <cnoid/ControllerIO>
#include "exportdecl.h"
 
namespace cnoid {
 
class ControllerIO;
class ControllerLogItem;
 
class Body;
 
class CNOID_EXPORT ControllerItem : public Item
{
public:
    static void initializeClass(ExtensionManager* ext);
    
    // for the backward compatibility
    typedef ControllerIO Target;
 
    ControllerItem();
    ControllerItem(const ControllerItem& org);
    virtual ~ControllerItem();
 
    bool isActive() const;
    bool isNoDelayMode() const { return isNoDelayMode_; }
    virtual void setNoDelayMode(bool on);
    
    const std::string& optionString() const { return optionString_; }
    void setOptions(const std::string& options) { optionString_ = options; }
 
    virtual double timeStep() const;
 
    virtual bool initialize(ControllerIO* io);
 
    virtual ControllerLogItem* createLogItem();
    
    virtual bool start();
 
    virtual void input();
 
    /*
      @return false to request stopping
      @note The body oject given in the initalized function() must not be accessed
      in this function. The access should be done in input() and output().
      @note This function is called from the simulation thread.
    */
    virtual bool control();
 
    virtual void log();
        
    virtual void output();
        
    virtual void stop();
 
    bool isImmediateMode() const { return isNoDelayMode(); }
    void setImmediateMode(bool on) { setNoDelayMode(on); }
 
protected:
    virtual void onOptionsChanged();
    
    virtual void doPutProperties(PutPropertyFunction& putProperty) override;
    virtual bool store(Archive& archive) override;
    virtual bool restore(const Archive& archive) override;
 
private:
    SimulatorItemPtr simulatorItem_;
    bool isNoDelayMode_;
    std::string optionString_;
 
    friend class SimulatorItem;
    void setSimulatorItem(SimulatorItem* item);
};
        
typedef ref_ptr<ControllerItem> ControllerItemPtr;
 
}
 
#endif