MALedsController.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 "MAController.hpp"

#include <MCThreadLocalData.hpp>

#include <boost/scoped_ptr.hpp>
#include <boost/unordered_map.hpp>

class MADevice;
class MALedsController;
class MAGeneratorContainer;
class MARobotState;

namespace MA
{
extern MCThreadLocalData<MALedsController> Leds;
typedef boost::unordered_map<std::string, bool> TransitionLedModeMap;
typedef TransitionLedModeMap::iterator TransitionLedModeMapIter;
};

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

private:
  virtual void UpdateRobotState(MARobotState& robot_state) override;
public:
  virtual MA::DeviceList GetMotors() const override;
  virtual int StartTransition(const std::string& name) override;
  virtual void StopTransition(const std::string& name) override;
  static int GetFaceMode();
  void ResetSkitterFaceMode();
  void SetMaximumValue(float new_value);
  float GetMaximumValue() const;
  int GetShownBatteryLevel() const;
  void ClearFace();
  virtual MA::DeviceGeneratorsMap GetSkitTransitionGenerators(MA::SkitBaseSPtr skit) override;
private:
  void AddGenerator(MA::DeviceGeneratorsMap& device_generators, MADevice& device,
                    MAGeneratorContainer& container, bool permanent = false);
  MA_DECLARE_TRANSITION_ACTION(ShowAwakenEyes)
  MA_DECLARE_TRANSITION_ACTION(ShowSleepingEyes)
  MA_DECLARE_TRANSITION_ACTION(ShowBatteryChargingAnim)
  MA_DECLARE_TRANSITION_ACTION(ShowCrownStrokedAnim)
  MA_DECLARE_TRANSITION_ACTION(ShowHappyAnim)
  MA_DECLARE_TRANSITION_ACTION(ShowSadAnim)
  MA_DECLARE_TRANSITION_ACTION(ShowBatteryLevel)
  MA_DECLARE_TRANSITION_ACTION(ShowDataUploadStatus)
  MA_DECLARE_TRANSITION_ACTION(ShowClientConnectedStatus)
  MA_DECLARE_TRANSITION_ACTION(ShowNoNetworkStatus)
  MA_DECLARE_TRANSITION_ACTION(ShowStartup)
  MA_DECLARE_TRANSITION_ACTION(ShowAngryFace)
  MA_DECLARE_TRANSITION_ACTION(HeavyCalculation)
  MA_DECLARE_TRANSITION_ACTION(SwitchSoundProfile)
  MA_DECLARE_TRANSITION_ACTION(NormalVolumeControl)
  MA_DECLARE_TRANSITION_ACTION(AdaptiveVolumeControl)
  MA_DECLARE_TRANSITION_ACTION(ShowPickUpMode)
  MA_DECLARE_TRANSITION_ACTION(ShowGameMode)
  MA_DECLARE_TRANSITION_ACTION(FadeOutEarsGreen)
  MA_DECLARE_TRANSITION_ACTION(FadeOutEarsRed)
  MA_DECLARE_TRANSITION_ACTION(FadeOutCrownWhite)

protected:
  boost::scoped_ptr<MADevice> BackFBlue;
  boost::scoped_ptr<MADevice> BackFWhite;
  boost::scoped_ptr<MADevice> BackMOrange;
  boost::scoped_ptr<MADevice> BackMWhite;
  boost::scoped_ptr<MADevice> BackRRed;
  boost::scoped_ptr<MADevice> BackRWhite;
  boost::scoped_ptr<MADevice> HeadWifi;
  boost::scoped_ptr<MADevice> HeadYellow;
  boost::scoped_ptr<MADevice> HeadWhite;
  boost::scoped_ptr<MADevice> EarsRed;
  boost::scoped_ptr<MADevice> EarsGreen;
  boost::scoped_ptr<MADevice> EarsBlue;
  boost::scoped_ptr<MADevice> Face[14];
  MA::TransitionLedModeMap TransitionLedModes;
  int LedModeForSkitter;
  int ShownBatteryLevel;
  /*
   * Maximum led value
   * 0.05 - minimum 1.0 - maximum
   */
  MANum<float> MaximumValue;
};