MAController.hpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  AiBO+ is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#pragma once

#include <boost/bind.hpp>
#include <boost/tuple/tuple.hpp>

#include "core/MACoreTypes.hpp"
#include "core/MAContainerLocker.hpp"
#include "core/MASignal.hpp"
#include "types/skits/MASkitBase.hpp"
#include "types/MARobotStateUpdater.hpp"

// boost::mem_fn() is needed to be backward compatible with gcc 3.x
// http://lists.mech.kuleuven.be/pipermail/orocos-dev/2006-July/001777.html
// http://www.gitorious.org/orocos-toolchain/rtt/commit/9d229df407bd1f67332998d2b693ed5f285053d2
#define MA_BIND_TRANSITION(_class, _action, _check) \
  _action##Str = #_action; \
  Transitions[#_action] = boost::make_tuple(boost::bind<MA::DeviceGeneratorsMap>(boost::mem_fn(&_class::_action), this), \
                                            boost::bind<bool>(boost::mem_fn(&_class::_check), this), \
                                            MA::DeviceGeneratorsMap());

// boost::mem_fn() is needed to be backward compatible with gcc 3.x
// http://lists.mech.kuleuven.be/pipermail/orocos-dev/2006-July/001777.html
// http://www.gitorious.org/orocos-toolchain/rtt/commit/9d229df407bd1f67332998d2b693ed5f285053d2
#define MA_BIND_TRANSITION_ACTION(_class, _action) \
  _action##Str = #_action; \
  Transitions[#_action] = boost::make_tuple(boost::bind<MA::DeviceGeneratorsMap>(boost::mem_fn(&_class::_action), this), \
                                            MA::BoolFuncPtr(), \
                                            MA::DeviceGeneratorsMap());

#define MA_DECLARE_TRANSITION(_action, _check) \
private: \
  MA::DeviceGeneratorsMap _action(); \
public: \
  std::string _action##Str; \
  bool _check() const;

#define MA_DECLARE_TRANSITION_ACTION(_action) \
private: \
  MA::DeviceGeneratorsMap _action(); \
public: \
  std::string _action##Str;

namespace MA
{
typedef boost::function<MA::DeviceGeneratorsMap ()> TransitionStartFuncPtr;
typedef boost::tuple<TransitionStartFuncPtr, BoolFuncPtr, DeviceGeneratorsMap> TransitionTuple;
/*
 * Transition map
 * name -> (duration, pointer to starter function, pointer to isSuccess()-like function)
 */
typedef boost::unordered_map<std::string, TransitionTuple> TransitionMap;

typedef enum
{
  MotorController = 0,   
  LedController,         
  SpeakerController,     
  OtherController        
} ControllerType;
}

class MAController : public MARobotStateUpdater, public MAContainerLocker
{
  MA_SLOT_CLASS
  MC_DISABLE_COPY(MAController)
  MA_CONTAINER_LOCK_ID_VARIABLE(Transitions)
public:

  explicit MAController(MA::ControllerType controller_type);
  virtual ~MAController();

  MC::StringList GetTransitionNames() const;

  MC::StringList GetActiveTransitionsByDevice(const MADevice& device);

  virtual int StartTransition(const std::string& name);

  virtual void StopTransition(const std::string& name);

  virtual MA::DeviceGeneratorsMap GetSkitTransitionGenerators(MA::SkitBaseSPtr skit) = 0;

  bool IsTransitionActive(const std::string& name);

  bool IsAnyActiveTransition();

  bool IsAnyActiveSkitTransition();

  bool IsTransitionSuccessful(const std::string& name);

  bool TransitionHasCheck(const std::string& name);

  virtual MA::DeviceList GetMotors() const = 0;

protected:

  void GeneratorContainerExpired(MAGeneratorContainer& container);

  MA::TransitionMap::iterator RegisterSkitTransition(const std::string& skit_name);

private:

  int GetDeviceGeneratorsDuration(MA::DeviceGeneratorsMap& device_generators);

public:

  static void SetVerbose(bool new_state);

  static bool IsVerbose();

protected:
  MA::ControllerType Type;
  MA::TransitionMap Transitions;
};