MAEarsController.cpp

/*
 *  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.
 *
 */

#include "MAEarsController.hpp"

#include "core/MADevice.hpp"
#include "core/MARandomness.hpp"
#include "core/MAValueGenerators.hpp"
#include "types/skits/MAMotionSkit.hpp"

#include <MCLog.hpp>

namespace MA
{
MCThreadLocalData<MAEarsController> Ears(false);
}

MAEarsController::MAEarsController() : MAController(MA::MotorController)
{
  if (MA::Ears.get())
  {
    MC_WARNING("The global ears controller is overridden.");
    MA::Ears.release();
  }
  MA::Ears.reset(this);
  MA_BIND_TRANSITION_ACTION(MAEarsController, FlapEars);
}


MAEarsController::~MAEarsController()
{
  if (MA::Ears.get() == this)
    MA::Ears.release();
}


void MAEarsController::UpdateRobotState(MARobotState& state)
{
  MC_UNUSED(state);
}


MA::DeviceList MAEarsController::GetMotors() const
{
  return MA::DeviceList();
}


bool MAEarsController::IsMovingEars() const
{
  return EarLeft->HasGenerator() || EarRight->HasGenerator();
}


MA::DeviceGeneratorsMap MAEarsController::FlapEars()
{
  MAGeneratorContainer* EarLContainer = nullptr;
  MAGeneratorContainer* EarRContainer = nullptr;
  MA::DeviceGeneratorsMap DeviceGenerators;
  MA_RANDOM_POINT_1(Flaps, 1, 3);
  MA_RANDOM_POINT_N(FlapDurations, Flaps, 100, 200);

  if (Flaps < 1)
    return MA::DeviceGeneratorsMap();
  for (int i = 0; i < Flaps; ++i)
  {
    MAPeriodicGenerator* Generator = new MAPeriodicGenerator(0.0, 1.0, 200, 0, FlapDurations[i], 0, 100, false);

    if (!EarLContainer)
    {
      EarLContainer = new MAGeneratorContainer(*Generator);
    } else {
      EarLContainer->AddGenerator(*Generator);
    }
    Generator = new MAPeriodicGenerator(0.0, 1.0, 200, 0, FlapDurations[i], 0, 100, false);
    if (!EarRContainer)
    {
      EarRContainer = new MAGeneratorContainer(*Generator);
    } else {
      EarRContainer->AddGenerator(*Generator);
    }
  }
  EarLeft->AddGeneratorContainer(*EarLContainer);
  MA_INSERT_DEVICEGENERATOR(DeviceGenerators, EarLeft.get(), EarLContainer);
  EarRight->AddGeneratorContainer(*EarRContainer);
  MA_INSERT_DEVICEGENERATOR(DeviceGenerators, EarRight.get(), EarRContainer);
  return DeviceGenerators;
}


MA::DeviceGeneratorsMap MAEarsController::GetSkitTransitionGenerators(MA::SkitBaseSPtr skit)
{
  MAMotionSkit* MotionSkit = dynamic_cast<MAMotionSkit*>(skit.get());

  if (!MotionSkit)
    return MA::DeviceGeneratorsMap();

  MA::DeviceGeneratorsMap DeviceGenerators;
  MAGeneratorContainer* Container = nullptr;

  // Ear left
  Container = MotionSkit->GetGeneratorContainer(MA::EarLeft);
  EarLeft->ClearGenerators();
  EarLeft->AddGeneratorContainer(*Container);
  MA_INSERT_DEVICEGENERATOR(DeviceGenerators, EarLeft.get(), Container);
  // Ear right
  Container = MotionSkit->GetGeneratorContainer(MA::EarRight);
  EarRight->ClearGenerators();
  EarRight->AddGeneratorContainer(*Container);
  MA_INSERT_DEVICEGENERATOR(DeviceGenerators, EarRight.get(), Container);
  return DeviceGenerators;
}