MATailController.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 "MAController.hpp"

class MADevice;
class MATailController;

namespace MA
{
extern MCThreadLocalData<MATailController> Tail;
}

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

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

public:
  virtual MA::DeviceList GetMotors() const override;
  void SetPower(bool new_state);
  bool IsPowerOn();
  bool IsMoving();
  void Stop();
  MA_DECLARE_TRANSITION_ACTION(Wag)
  MA_DECLARE_TRANSITION(ToBack, IsAtBack)
  virtual MA::DeviceGeneratorsMap GetSkitTransitionGenerators(MA::SkitBaseSPtr skit) override;

protected:
  boost::shared_ptr<MADevice> TailTilt;
  boost::shared_ptr<MADevice> TailPan;
};