First demo

Hello world
robotology · Feb 21, 2018 · d8e4a56 · d8e4a56
1 parent c3387d1
commit d8e4a56
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Showing 3 changed files with 34 additions and 13 deletions.
diff --git a/toolbox/include/base/CoderBlockInformation.h b/toolbox/include/base/CoderBlockInformation.h
@@ -14,15 +14,23 @@ namespace wbt {
 
 class wbt::CoderBlockInformation : public wbt::BlockInformation
 {
-private:
+private: 
+    typedef int Rows;
+    typedef int Cols;
+    typedef unsigned SignalIndex;
+
     std::vector<wbt::ParameterMetadata> m_paramsMetadata;
-    std::unordered_map<unsigned, wbt::Signal> m_inputSignals;
-    std::unordered_map<unsigned, wbt::Signal> m_outputSignals;
+    std::unordered_map<SignalIndex, wbt::Signal> m_inputSignals;
+    std::unordered_map<SignalIndex, wbt::Signal> m_outputSignals;
 
     std::string m_confBlockName;
     Parameters m_parametersFromRTW;
 
+    std::unordered_map<SignalIndex, std::pair<Rows, Cols>> m_inputSignalSize;
+    std::unordered_map<SignalIndex, std::pair<Rows, Cols>> m_outputSignalSize;
+
     // Private? Static?
+    // TODO
     static bool containConfigurationData(const wbt::Parameters& parameters);
 
 public:

diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
@@ -243,7 +243,7 @@ bool SetReferences::terminate(const BlockInformation* blockInfo)
     return ok && WBBlock::terminate(blockInfo);
 }
 
-bool SetReferences::initializeInitialConditions(const BlockInformation* blockInfo)
+bool SetReferences::initializeInitialConditions(const BlockInformation* /*blockInfo*/)
 {
     // This function is called when a subsystem with Enable / Disable support is used.
     // In this case all the blocks in this subsystem are configured and initialize,

diff --git a/toolbox/src/base/CoderBlockInformation.cpp b/toolbox/src/base/CoderBlockInformation.cpp
@@ -6,6 +6,7 @@
 
 #include <string>
 #include <vector>
+#include <utility>
 
 using namespace wbt;
 
@@ -14,7 +15,7 @@ using namespace wbt;
 
 bool CoderBlockInformation::optionFromKey(const std::string& key, double& option) const
 {
-    return false;
+    return true;
 }
 
 // PARAMETERS METHODS
@@ -25,32 +26,36 @@ bool CoderBlockInformation::optionFromKey(const std::string& key, double& option
 
 bool CoderBlockInformation::setNumberOfInputPorts(unsigned numberOfPorts)
 {
-    return false;
+    return true;
 }
 
 bool CoderBlockInformation::setNumberOfOutputPorts(unsigned numberOfPorts)
 {
-    return false;
+    return true;
 }
 
 bool CoderBlockInformation::setInputPortVectorSize(unsigned portNumber, int portSize)
 {
-    return false;
+    m_inputSignalSize[portNumber] = {1, portSize};
+    return true;
 }
 
 bool CoderBlockInformation::setInputPortMatrixSize(unsigned portNumber, int rows, int columns)
 {
-    return false;
+    m_inputSignalSize[portNumber] = {rows, columns};
+    return true;
 }
 
 bool CoderBlockInformation::setOutputPortVectorSize(unsigned portNumber, int portSize)
 {
-        return false;
+    m_outputSignalSize[portNumber] = {1, portSize};
+    return true;
 }
 
 bool CoderBlockInformation::setOutputPortMatrixSize(unsigned portNumber, int rows, int columns)
 {
-    return false;
+    m_outputSignalSize[portNumber] = {rows, columns};
+    return true;
 }
 
 bool CoderBlockInformation::setInputPortType(unsigned portNumber, PortDataType portType)
@@ -68,12 +73,20 @@ bool CoderBlockInformation::setOutputPortType(unsigned portNumber, PortDataType
 
 unsigned CoderBlockInformation::getInputPortWidth(unsigned portNumber) const
 {
-    return false;
+    if (m_inputSignalSize.find(portNumber) == m_inputSignalSize.end()) {
+        return 0;
+    }
+
+    return static_cast<unsigned>(m_inputSignalSize.at(portNumber).second);
 }
 
 unsigned CoderBlockInformation::getOutputPortWidth(unsigned portNumber) const
 {
-    return false;
+    if (m_outputSignalSize.find(portNumber) == m_outputSignalSize.end()) {
+        return 0;
+    }
+
+    return static_cast<unsigned>(m_outputSignalSize.at(portNumber).second);
 }
 
 wbt::Signal CoderBlockInformation::getInputPortSignal(unsigned portNumber, int portWidth) const