MATorso.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 "types/MAHead.hpp"
#include "MARobotStateUpdater.hpp"

#include <MCTimer.hpp>

struct MATimestamp
{
  MATimestamp();

  int ToMilliseconds() const;

  MANum<int> Seconds;
  MANum<int> Milliseconds;
  MANum<int> Microseconds;
};

struct MACpuLoad
{
  MACpuLoad();

  MANum<int> All;
  MANum<int> Behaviors;
  MANum<int> Camera;
  MANum<int> Network;
  MANum<int> Audio;
};

struct MAWlanStatistics
{
  MAWlanStatistics();

  MANum<int> Link;
  MANum<int> Signal;
  MANum<int> Noise;
};

struct MATorso : public MARobotStateUpdater
{
  MATorso();

  virtual void UpdateCycleTime();
  virtual void UpdateTimestamp();

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

  void GenerateBackFButtonPressed(int cycle_time);
  void GenerateBackMButtonPressed(int cycle_time);
  void GenerateBackRButtonPressed(int cycle_time);
  void GenerateBackStroked(int cycle_time);
  void GenerateBackGrabbed(int cycle_time);

public:
  MANum<int> BuildID;
  MANum<int> SessionID;
  MANum<int> CycleID;
  MATimestamp Timestamp;
  MANum<int> CycleTime;
  MANum<int> FreeMemory;
  MANum<int> WritableStorage;
  MANum<int> BatteryCapacity;
  MANum<int> BatteryLevel;
  MANum<int> PowerConsumption;
  MANum<int> EstimatedSessionPowerConsumption;
  MANum<int> RealSessionPowerConsumption;
  MACpuLoad CpuLoad;
  MAWlanStatistics WlanStats;
  MANum<int> Temperature;
  /*
   * Detected vibration
   * 0 - No vibration 1 - Vibration is being detected
   */
  MANum<int> Vibration;
  // The data upload to a computer or a portable device in the current cycle (in bytes)
  MANum<int> DataUpload;
  MANum<int> TailPan;
  MANum<int> TailPanForce;
  MANum<int> TailTilt;
  MANum<int> TailTiltForce;
  MANum<int> BackButtonF;
  MANum<int> BackButtonM;
  MANum<int> BackButtonR;
  MANum<int> ChestIR;
  MANum<int> NearIR;
  MANum<int> FarIR;
  /*
   * The back of the robot is stroked
   * 0 - Not stroked 100 - Stroked
   */
  MANum<int> BackStroked;
  /*
   * The robot is grabbed on the back
   * 0 - Not grabbed 100 - Grabbed
   */
  MANum<int> BackGrabbed;
  /*
   * The fore button on the back is pressed
   * 0 - Not stroked 100 - Pressed
   */
  MANum<int> BackFButtonPressed;
  /*
   * The middle button on the back is pressed
   * 0 - Not stroked 100 - Pressed
   */
  MANum<int> BackMButtonPressed;
  /*
   * The rear button on the back is pressed
   * 0 - Not stroked 100 - Pressed
   */
  MANum<int> BackRButtonPressed;
  /*
   * Daytime/night time
   * 0 - Daytime 1 - Night time
   */
  MANum<int> NightTime;
  /*
   * Network connection
   * 0 - No connection 1 - Available connection
   */
  MANum<int> NetworkConnection;
  MANum<int> ConnectedClients;
  MANum<int> Debug;
private:
  MCTimer ActivatedStateTimer;
  MAIntervalNum<int> BackFPressedFactor;
  MAIntervalNum<int> BackMPressedFactor;
  MAIntervalNum<int> BackRPressedFactor;
  MATouchButtonStroked BackFTouched;
  MATouchButtonStroked BackMTouched;
  MATouchButtonStroked BackRTouched;
  MAIntervalNum<int> BackStrokedFactor;
  MAIntervalNum<int> BackGrabbedFactor;
};