Module

The module class is the root of the simulation. When used in the ARGoS simulator it implements aCCI_Controllerclass, which provides aControlStep()function that does not take any parameters and describes a single step of execution. Any subclass ofModulemust implement the methodsInit()and ControlStep().

In ARGoS, Init()has the following signature:

virtual void Init(argos::TConfigurationNode& t_node);

It takes aTConfigurationNodethat can be used to read parameters from the XML experiment file. The module class overwrites the ControlStep() function of the CCI_Controllerclass and calls the Execute()function. For the function Execute(), in the current version of the framework, it first calls theSense()method of the robot, then theExecute()method of the controller and finally theActuate()method of the robot. The implementation of the module class for the obstacle avoidance example is as follows:

//OAModule.h
#include "Robot.h"
#include "ContMovement.h"
#include "ChannelTypes.h"

#include <argos3/core/control_interface/ci_controller.h>

class OAModule : public argos::CCI_Controller {
public:
    OAModule() :
            OAModule_Robot(nullptr),
            OAModule_ContMovement(nullptr),
            obstacle(std::make_shared<robochart::obstacle_channel>("obstacle")) {}
    virtual ~OAModule() {};

    virtual void Init(argos::TConfigurationNode& t_node);
    virtual void ControlStep();
    void Execute();

private:
    std::shared_ptr<robochart::obstacle_channel> obstacle;
    std::shared_ptr<Robot> OAModule_Robot;
    std::shared_ptr<ContMovement> OAModule_ContMovement;
};

//OAModule.cpp
#include "OAModule.h"
#include "StmMovement.h"

void OAModule::Init(argos::TConfigurationNode& t_node) {
    OAModule_Robot = std::make_shared<Robot> (obstacle);
    OAModule_ContMovement = std::make_shared<ContMovement> (OAModule_Robot, obstacle);
    std::shared_ptr<StmMovement> ContMovement_StmMovement = std::make_shared<StmMovement>(OAModule_Robot, OAModule_ContMovement, obstacle);
    OAModule_ContMovement->stm = ContMovement_StmMovement;

    // Epuck Sensors
    OAModule_Robot->EventsI::light_sensor_epuck = GetSensor<argos::CCI_EPuckLightSensor>("epuck_light");
    OAModule_Robot->EventsI::proximity_sensor_epuck = GetSensor<argos::CCI_EPuckProximitySensor>("epuck_proximity");
    // Epuck Actuators
    OAModule_Robot->MovementI::wheels_actuator = GetActuator<argos::CCI_EPuckWheelsActuator>("epuck_wheels");
    OAModule_Robot->MovementI::base_leds_actuator = GetActuator<argos::CCI_EPuckBaseLEDsActuator>("epuck_base_leds");
}

void OAModule::Execute() {
    OAModule_Robot->Sense();
    OAModule_ContMovement->Execute();
    OAModule_Robot->Actuate();
}

void OAModule::ControlStep() {
    Execute();
    printf("\n");
}