MATorsoController.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 "MAController.hpp"

#include <MCThreadLocalData.hpp>

#include <boost/scoped_ptr.hpp>

class MADevice;
template<typename T>
class MANum;
class MATorsoController;

namespace MA
{
extern MCThreadLocalData<MATorsoController> Torso;
}

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

protected:
  virtual void UpdateRobotState(MARobotState& state) override;
  virtual MA::DeviceGeneratorsMap GetSkitTransitionGenerators(MA::SkitBaseSPtr skit) override;
  void SetAccelRawHighresValues(MANum<int>& value, MADevice& device) const;
  void SetAccelDegreeHighresValues(MANum<int>& value, MADevice& device) const;

public:
  virtual MA::DeviceList GetMotors() const override;
  virtual void RequestRestart();
  virtual void RequestShutdown();
  virtual void RequestDebugMode();
  virtual int GetFreeMemory() const;

protected:
  boost::scoped_ptr<MADevice> WifiSwitch;
  boost::scoped_ptr<MADevice> BackRButton;
  boost::scoped_ptr<MADevice> BackMButton;
  boost::scoped_ptr<MADevice> BackFButton;
  boost::scoped_ptr<MADevice> AccelX;
  boost::scoped_ptr<MADevice> AccelY;
  boost::scoped_ptr<MADevice> AccelZ;
  boost::scoped_ptr<MADevice> InfraNear;
  boost::scoped_ptr<MADevice> InfraFar;
  boost::scoped_ptr<MADevice> InfraChest;
};