first_step.ddoc

Go to the documentation of this file.

}
\endcode


If you add "catch" parenthesis in regular expression, "caught" vars are in argv.

In this case, the regular expression "^(.*) quitting$" will catch all message that will finish by " quitting". In argv[0] you can get the catched message juste before " quitting". argc return number of vars "catched". This is usefull only if your parameters number is not fixed. If you are not familiar with regular expressions, I recommend you to see some documentations before going further.

\subsection basics_micoleAgentThread MicoleAgentThread
\sa MicoleAgentThread
Some agents need their own thread because they work in parallel with the main program (coordinates sender agent for example). AgentsThreads are "threaded" version of Agents.

If you inherit MicoleAgentThread you can use two methods "start" and "run".

\code
start(); //Start thread
\endcode

This is a sample code of implementation of the run method in FF3DDeviceSenderAgent

\code
void FF3DDeviceSenderAgent::run ()
{
        Vec3f p = Vec3f(0,0,0);
        MicoleStringStream s;
        while(getState()==ACTIVE)
        {
                p = _FF3DCoord->get();

                        s<< "IN FF3D : pos=(" << p.x << ", "<< p.y << ", " << p.z<<");";

                        if (_buttonPress->eventPressed())
                                s << " evt=PRESSED;";


                        if (_buttonPress->eventReleased())
                                s << " evt=RELEASED;";


                        sendMessage(s.str());
                }
                ::Sleep(_delay);
                s.flush();
        }
}
\endcode

\section first_program Your first program
\subsection first_program_logger LoggerAgent

The LoggerAgent catch all informations on the bus and write it in a log file. Learn how works the LoggerAgent is a good training course.

\subsection first_program_declaration Declaration

We decide to create "MyLoggerAgent" a quite simple Logger agent class"

MyLoggerAggent.h
\code
 #ifndef MYLOGGERAGENT_H
 #define MYLOGGERAGENT_H
 #include "micolelib.h"
 #include "MicoleAgent.h"
 #include <iostream>
 #include <fstream>
 using namespace std;

 class MyLoggerAgent: public MicoleAgent
 {
        public:
                MyLoggerAgent();
                virtual ~MyLoggerAgent();
                void handleAllMessage ( MicoleBus *app, int argc, const char **argv );
        private:
                ofstream _log; /**< output log file stream handler  */
                FILE *_logFile;
 }; 

 #endif
\endcode

This is a classic class definition.

 - Some include files
 - You inherit MicoleAgent
 - Default constructor, destructor
 - private variables for file handling 

You can notice the handleAllMessage function prototypes. This is a "bindable" method by MicoleBus. Return type is always void and you have 3 parameters. MicoleBus (we will not take a look on this for the moment), argc (number of arguments in argv), argv: all strings catched by a regular expression. If you want to create new "bindable" method, you MUST follow this prototype.
\subsection first_program_firstbind Your first bind

LoggerAggent bind "all information" on the bus with the regular expression "(.*)". Notice the catch parenthesis, all caracters will be put in first argument (argv[0]). All messages is logged in a log file.

\code
#include "MyLoggerAgent.h"

MyLoggerAgent::MyLoggerAgent()
: MicoleAgent("MyLoggerAgent", "Logger")
{
        _log.open(s.str().c_str());
        bindMessage("(.*)", BUS_CALLBACK_OF(LoggerAgent, handleAllMessage));
}

MyLoggerAgent::~LoggerAgent()
{
        _log.close();
}

void MyLoggerAgent::handleAllMessage ( MicoleBus *app, int argc, const char **argv )
{
        _log <<  argv[0] << endl;
}
\endcode

This example is pretty short and usefull to debug Micole messages system.

This class already exist in Micole Architecture his name is "LoggerAgent" and I recommend you to use it to monitor your applications.

If you want to filter specific message, you can, for example, catch only input message with "^IN (.*)" regular expression. Prefixes choice is important if you want to filter specific messages.
\section timetoplay Time to play with haptic devices
\subsection timetoplay_init Intialization of you first haptic devices

To receive ForceFeedBack 3D Devices (device configured in reachin) you just need to instanciate

\code
FF3DDeviceSenderAgent sa = FF3DDeviceSenderAgent(16);
\endcode

And each 16ms you receive device coordinate on the bus. FF3DDeviceSenderAgent messages is like that

\code
IN FF3D : pos=(-1.330810785e-003, -8.182675362e-002, -4.387708664e-002); evt=RELEASED;
\endcode

\subsection timetoplay_helpers Use DeviceInputAgent Helpers

You don't need to "bind" FF3DDeviceSenderAgent messages if you inherit "FF3DDeviceInputAgent".

All *DeviceInputAgent are "helpers" and provide you an adapter to handle all "common" possibility of a device.

Each DeviceInputAgent has his own "method" to implement, following his own possibilites. FF3DDeviceInputAgent has virtuals methods onInput and onButtonPress and onButtonRelease. Methods names here are quite explicit.

More information in section Use haptic devices with MicoleLib
\subsection timetoplay_deviceoutputagent Initialize a DeviceOuputAgent

To give some order to a device, you need to Instanciate a DeviceOutputAgent.

\code
FF3DDeviceOutputAgent oa;
\endcode

After that, you need to send specific messages that corresponding devices can understand.

\code
MicoleStringStream ss;
ss << "OUT FF3D : line=(("<<_grab.x<<", "<<_grab.y<<", "<<_grab.z<<"),("<<_position.x<<", "<<_position.y<<", "<<_position.z<<"));";
sendMessage(ss.getString().c_str());
\endcode

This is an example of a recognized message. If you want all possible messages you can see it at section : Use haptic devices with MicoleLib
\subsection timetoplay_inputagentexample InputAgentExample

\code
void InputAgentExample::onInput() {
        if (_recording) {
                _path.push_back(_position);
        }

        if (_replay) {

                Vec3f _diff = _magneticPoint - _position;
                if (_diff.length()<=0.025) {

                        if (_path.size() > 0) {
                                _magneticPoint = _path.front();
                                _path.pop_front();

                                MicoleStringStream s;
                                s << "OUT FF3D GUIDE : point=("<<_magneticPoint.x<<", "<<_magneticPoint.y<<", "<<_magneticPoint.z<<");";
                                FF3DDeviceInputAgent::sendMessage(s.str());
                        } else { //no more point in path
                                _replay = 0;
                                FF3DDeviceInputAgent::sendMessage("OUT FF3D GUIDE : none;");
                                FF3DDeviceInputAgent::sendMessage("OUT VTP : left=(0000000000000000);");
                                FF3DDeviceInputAgent::sendMessage("OUT VTP : right=(0000000000000000);");
                        }
                }
        }

}
\endcode


*/

---