MAHeadController.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/shared_ptr.hpp>

#include <MCThreadLocalData.hpp>

#include "core/MAValueGenerators.hpp"
#include "types/MABodyTypes.hpp"
#include "MAController.hpp"

class MACameraDevice;
class MADevice;
class MAHeadController;
class MAMicrophoneDevice;
class MARobotState;

namespace MA
{
extern MCThreadLocalData<MAHeadController> Head;
}

struct MAHeadTransitionGenerators
{
  MAHeadTransitionGenerators();

  void AddGeneratorToNeckTilt1(MAGeneratorBase& generator);
  void AddGeneratorToNeckTilt2(MAGeneratorBase& generator);
  void AddGeneratorToNeckPan(MAGeneratorBase& generator);
  void AddDelayToNeckJoints(int duration = 300);
  void Normalize();

  MAGeneratorContainer* NeckTilt1;
  MAGeneratorContainer* NeckTilt2;
  MAGeneratorContainer* NeckPan;
};

class MAHeadController : public MAController
{
public:
  MAHeadController();
  virtual ~MAHeadController();

private:
  virtual void UpdateRobotState(MARobotState& state) override;

public:
  virtual MA::DeviceList GetMotors() const override;
  MADevice* GetMotor(const MA::HeadJointsType joint) const;
  MA::HeadJointsType GetMotorType(const MADevice& motor) const;
  void SetPower(bool new_state);
  bool IsPowerOn() const;
  bool IsMovingNeck() const;
  bool IsTurnedDown() const;
  bool IsTurnedAhead() const;
  bool IsUp() const;
  MA_DECLARE_TRANSITION(TurnDownAndAhead, IsTurnedDownAndAhead)
  MA_DECLARE_TRANSITION(TurnUp, IsTurnedUp)
  MA_DECLARE_TRANSITION(ToNormalAhead, IsNormalAhead)
  MA_DECLARE_TRANSITION_ACTION(GoRubbing)
  MA_DECLARE_TRANSITION_ACTION(RubToLeft)
  MA_DECLARE_TRANSITION_ACTION(RubToRight)
  MA_DECLARE_TRANSITION_ACTION(FinishRubbing)
  MA_DECLARE_TRANSITION_ACTION(DoCircle)
  MA_DECLARE_TRANSITION_ACTION(HappyMoveToUp)
  std::string DoHappyMovement();
  MA_DECLARE_TRANSITION_ACTION(LookAroundLying)
  MA_DECLARE_TRANSITION_ACTION(LookAroundSitting)
  MA_DECLARE_TRANSITION_ACTION(TurnLeftLying)
  MA_DECLARE_TRANSITION_ACTION(TurnRightLying)
  MA_DECLARE_TRANSITION_ACTION(TurnLeftSitting)
  MA_DECLARE_TRANSITION_ACTION(TurnRightSitting)
  void Stop();
  void PrintFeatures();
  bool IsPowerOn(MA::HeadJointsType joint) const;
  void SetPower(MA::HeadJointsType joint, bool new_state);

protected:
  void RegisterDeviceUpdates();
  void NotifyDeviceUpdate(MADevice& device);
  void Stop(MA::HeadJointsType joint);
  void CreateGenerators(MAHeadTransitionGenerators& generators, const MABodyPartFeature& feature,
                        int msec, MAGeneratorBase::FunctionType function = MAGeneratorBase::Linear);
  virtual MA::DeviceGeneratorsMap GetSkitTransitionGenerators(MA::SkitBaseSPtr skit) override;
  MA::DeviceGeneratorsMap ApplyGenerators(MAHeadTransitionGenerators& generators, bool clear = false);

  boost::shared_ptr<MADevice> NeckTilt1;
  boost::shared_ptr<MADevice> NeckTilt2;
  boost::shared_ptr<MADevice> NeckPan;
  boost::shared_ptr<MADevice> ChinButton;
  boost::shared_ptr<MADevice> CrownButton;
  boost::shared_ptr<MACameraDevice> Camera;
  boost::shared_ptr<MAMicrophoneDevice> Microphone;
  /*
   * Left-right direction of the head
   * -100 - left 100 - right
   */
  MALeftRightTurned LeftRightTurned;
  /*
   * Fore-back and up-down direction of the head
   * -100 - back 100 - fore
   * -100 - down 100 - up
   */
  MAHeadPosition HeadPosition;
  float RubbingCenterForeBack;
  float RubbingCenterLeftRight;
};