MARobotState.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/MACoreTypes.hpp"
#include "core/MASignal.hpp"
#include "MALeg.hpp"

#include <MCDefs.hpp>
#include <MCThreadLocalData.hpp>

#include <boost/scoped_ptr.hpp>

#include <vector>
#include <map>

#include <stdint.h>

class MCBinaryData;
class MAAudio;
class MABodyMotion;
class MAComplexIndicators;
class MAEmotions;
class MAGoals;
class MAHead;
class MAHri;
template <typename T>
class MANum;
class MARobotState;
class MATorso;

namespace MA
{
extern MCThreadLocalData<MARobotState> RobotState;

typedef std::vector<int16_t> Int16List;

typedef std::vector<MANum<int>*> MANumIntPtrList;

typedef std::pair<int, MC::StringPtr> ValueNoteType;
typedef std::vector<ValueNoteType> ValueNoteList;

typedef std::map<const MANum<int>*, ValueNoteList> MANumIntPtrValueNotesMap;
}

class MARobotState
{
  MA_SLOT_CLASS

  MARobotState(bool static_instance = false, bool updates = false);

  MARobotState(const MARobotState& other);

  virtual ~MARobotState();

private:

  void Init(bool static_instance, bool updates);

public:

  MALeg& GetLeg(MA::Leg::LegTypes leg) const;

  std::string GetDecodedVariableMap() const;

  const MANum<int>* GetVariable(const std::string& variable_name) const;

  std::string GetDisplayName(const std::string& variable_name) const;

  MC::StringList GetVariableNames() const;

  MA::ValueNoteList GetValueNotes(const std::string& variable_name) const;

  std::string GetAsRichText(const MC::StringList& highlighted_variables = MC::StringList()) const;

  std::string GetAsNormalText() const;

  MARobotState& operator=(const MARobotState& other);

  MCBinaryData* Encode(bool encode_variable_map = true) const;

  static MARobotState* Decode(const MCBinaryData& data, const std::string& variable_map = "");

protected:

  void BindVariable(const std::string& name, MANum<int>& variable, const std::string& display_name);

  void RemoveCustomVariables();

private:

  int GetBinarySize() const;

public:
  boost::scoped_ptr<MATorso> Torso;
  boost::scoped_ptr<MABodyMotion> BodyMotion;
  boost::scoped_ptr<MALeg> LegLF;
  boost::scoped_ptr<MALeg> LegLH;
  boost::scoped_ptr<MALeg> LegRF;
  boost::scoped_ptr<MALeg> LegRH;
  boost::scoped_ptr<MAHead> Head;
  boost::scoped_ptr<MAAudio> Audio;
  boost::scoped_ptr<MAEmotions> Emotions;
  boost::scoped_ptr<MAComplexIndicators> ComplexIndicators;
  boost::scoped_ptr<MAGoals> Goals;
  boost::scoped_ptr<MAHri> Hri;
private:
  std::string** StrBasePtr;
  MA::Int16List VariableNames;
  MA::Int16List VariableDisplayNames;
  MA::MANumIntPtrValueNotesMap VariableValueNotes;
  std::string DecodedVariableMap;
  MA::MANumIntPtrList Variables;
  MA::MANumIntPtrList DecodedCustomVariables;
};