MALegBehavior.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/type_traits/is_base_of.hpp>

#include <MCLog.hpp>

#include "MABehavior.hpp"

class MALegController;
class MALeg;

#define MALEGBEHAVIOR_CREATE(_behavior, _leg_type, _master) \
  MABEHAVIOR_CREATE_S(_behavior, _master, MALegBehavior::GetBehaviorSuffix(_leg_type), _leg_type)

#define MALEGBEHAVIOR_EXISTS(_behavior, _leg_type) \
  MABEHAVIOR_EXISTS_S(_behavior, MALegBehavior::GetBehaviorSuffix(_leg_type))

#define MALEGBEHAVIOR_DELETE(_behavior, _leg_type) \
  MABEHAVIOR_DELETE_S(_behavior, MALegBehavior::GetBehaviorSuffix(_leg_type))

#define MALEGBEHAVIOR_IS_ACTIVATED(_behavior, _leg_type) \
  (MABEHAVIOR_IS_ACTIVATED_S(_behavior, MALegBehavior::GetBehaviorSuffix(_leg_type)))

#define MALEGBEHAVIOR_IS_FINISHED(_behavior, _leg_type) \
  (MABEHAVIOR_IS_FINISHED_S(_behavior, MALegBehavior::GetBehaviorSuffix(_leg_type)))

#define MALEGBEHAVIOR_IS_FAILED(_behavior, _leg_type) \
  (MABEHAVIOR_IS_FAILED_S(_behavior, MALegBehavior::GetBehaviorSuffix(_leg_type)))

class MALegBehavior : public MABehavior
{
public:
  MALegBehavior(const std::string& behavior_name, MA::Leg::LegTypes leg_type, bool dynamic = true);

  static std::string GetBehaviorSuffix(MA::Leg::LegTypes leg_type);

protected:
  MALegController* Controller;
  const MALeg& LegState;
};


template <typename T>
std::string MAGetLegBehaviorName(MA::Leg::LegTypes leg_type)
{
  std::string ClassName = MCGetClassName<T>();

  if (!boost::is_base_of<MALegBehavior, T>::value)
  {
    MC_ERROR("The class %s is not derived from MALegBehavior", ClassName.c_str());
  }
  return ClassName+MALegBehavior::GetBehaviorSuffix(leg_type);
}