MAHead.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 "core/MANum.hpp"
#include "MARobotStateUpdater.hpp"

#include <MCSamples.hpp>

// It is a helper class to model the stroking over touch buttons
class MATouchButtonStroked
{
public:
  explicit MATouchButtonStroked(unsigned int max_value);

  void PutValue(int value);
  bool IsValid();
  bool IsStroked();
  bool IsJustStroked();

private:
  int MaxValue;
  int CurrentValue;
  MCSamples<int> Samples;
  MCSamples<int> SamplesLong;
};

struct MAHead : public MARobotStateUpdater
{
  MAHead();

private:
  // Update the sensor indicators
  virtual void UpdateRobotState(MARobotState& state) override;
  void GenerateHeadPushedLeft(int cycle_time);
  void GenerateHeadPushedRight(int cycle_time);
  void GenerateCrownPressed(int cycle_time);
  void GenerateCrownStroked(int cycle_time);
  void GenerateChinStroked(int cycle_time);
  void GenerateDaylightLevel(int cycle_time);
  void GenerateSleptAwaken(int cycle_time);
  void GenerateMouthStopped(int cycle_time);

public:
  MANum<int> Pan;
  MANum<int> PanForce;
  MANum<int> Tilt1;
  MANum<int> Tilt1Force;
  MANum<int> Tilt2;
  MANum<int> Tilt2Force;
  MANum<int> Moving;
  MANum<int> InMotion;
  MANum<int> Mouth;
  MANum<int> MouthForce;
  MANum<int> MouthMoving;
  MANum<int> MouthClosed;
  /*
   * The mouth is stopped
   * 0 - Not stopped 100 - Stopped
   */
  MANum<int> MouthStopped;
  /*
   * Camera brightness level
   * 0 - Darkness 100 - Full brightness
   */
  MANum<int> CameraBrightness;
  /*
   * Left-right direction of the head
   * -100 - Left 100 - Right
   */
  MANum<int> LeftRight;
  /*
   * The chin on the head is pressed
   * 0 - Not pressed 1 - Pressed
   */
  MANum<int> ChinButton;
  /*
   * The crown on the head is pressed
   * 0 - Not pressed 35 - Fully pressed
   */
  MANum<int> CrownButton;
  /*
   * Fore-back direction of the head
   * -100 - Back 100 - Fore
   */
  MANum<int> ForeBack;
  /*
   * Up-down direction of the head
   * -100 - Down 100 - Up
   */
  MANum<int> UpDown;
  /*
   * The crown on the head is pressed
   * 0 - Not pressed 100 - Pressed
   */
  MANum<int> CrownPressed;
  /*
   * The chin on the head is stroked
   * 0 - Not stroked 100 - Stroked
   */
  MANum<int> ChinStroked;
  /*
   * The crown on the head is stroked
   * 0 - Not stroked 100 - Stroked
   */
  MANum<int> CrownStroked;
  /*
   * The head is push from left
   * 0 - Not pushed 100 - Pushed
   */
  MANum<int> PushedLeft;
  /*
   * The head is push from right
   * 0 - Not pushed 100 - Pushed
   */
  MANum<int> PushedRight;
  /*
   * The daylight level of the environment
   * 0 - Full darkness/Undefined 100 - Full daylight
   */
  MANum<int> DaylightLevel;
  /*
   * Probability of sleeping/awake state
   * 0 - Slept 100 - Awaken
   */
  MANum<int> SleptAwaken;
  /*
   * Eye pupil size
   * 1 - Smallest 5 - Largest
   */
  MANum<int> EyePupilSize;
private:
  MAIntervalNum<int> HeadPushedLeftFactor;
  MAIntervalNum<int> HeadPushedRightFactor;
  MAIntervalNum<int> CrownPressedFactor;
  MATouchButtonStroked CrownTouched;
  MAIntervalNum<int> CrownStrokedFactor;
  MAIntervalNum<int> ChinStrokedFactor;
  MCSamples<int> ChinSamples;
  MCSamples<int> BrightnessSamples;
  MCSamples<int> BrightnessSamplesLong;
  MAIntervalNum<int> SleptAwakenFactor;
  MAIntervalNum<int> MouthStoppedFactor;
};