protected Controller(
Scenario myScenario,
edu.berkeley.path.beats.jaxb.Controller jaxbC,
Controller.Algorithm myType) {
this.myScenario = myScenario;
this.myType = myType;
this.jaxbController = jaxbC;
this.ison = false;
// this.activationTimes=new ArrayList<ActivationTimes>();
this.dtinseconds = jaxbC.getDt() > 0 ? jaxbC.getDt() : myScenario.get.simdtinseconds();
// Copy tables
tables = new java.util.HashMap<String, Table>();
for (edu.berkeley.path.beats.jaxb.Table table : jaxbC.getTable()) {
if (tables.containsKey(table.getName()))
BeatsErrorLog.addError("Table '" + table.getName() + "' already exists");
tables.put(table.getName(), new Table(table));
}
// // Get activation times and sort
// if (jaxbC.getActivationIntervals()!=null)
// for (edu.berkeley.path.beats.jaxb.Interval tinterval :
// jaxbC.getActivationIntervals().getInterval())
// if(tinterval!=null)
// activationTimes.add(new
// ActivationTimes(tinterval.getStartTime(),tinterval.getEndTime()));
// Collections.sort(activationTimes);
// below this does not apply for scenario-less controllers ..............................
if (myScenario == null) return;
samplesteps = BeatsMath.round(dtinseconds / myScenario.get.simdtinseconds());
// read target actuators
actuators = new ArrayList<Actuator>();
actuator_usage = new ArrayList<String>();
if (jaxbC.getTargetActuators() != null
&& jaxbC.getTargetActuators().getTargetActuator() != null) {
for (TargetActuator ta : jaxbC.getTargetActuators().getTargetActuator()) {
Actuator act = myScenario.get.actuatorWithId(ta.getId());
actuators.add(act);
act.setMyController(this);
actuator_usage.add(ta.getUsage() == null ? "" : ta.getUsage());
}
}
// read feedback sensors
sensors = new ArrayList<Sensor>();
sensor_usage = new ArrayList<String>();
if (jaxbC.getFeedbackSensors() != null
&& jaxbC.getFeedbackSensors().getFeedbackSensor() != null) {
for (FeedbackSensor fs : jaxbC.getFeedbackSensors().getFeedbackSensor()) {
sensors.add(getMyScenario().get.sensorWithId(fs.getId()));
sensor_usage.add(fs.getUsage() == null ? "" : fs.getUsage());
}
}
}
/**
* Retrieves a table with the given name
*
* @param jaxb_controller a controller to get a table from
* @param name the table name
* @return null, if a table with the given name was not found
*/
protected static Table findTable(
edu.berkeley.path.beats.jaxb.Controller jaxb_controller, String name) {
Table table = null;
for (edu.berkeley.path.beats.jaxb.Table jaxb_table : jaxb_controller.getTable())
if (name.equals(jaxb_table.getName())) {
if (null == table) table = new Table(jaxb_table);
else
logger.error(
"Controller " + jaxb_controller.getId() + ": duplicate table '" + name + "'");
}
return table;
}
