Joystick.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP 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 3 of the License, or
// (at your option) any later version.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------





// #define ARM



#ifndef __JOYSTICK_H_
#define __JOYSTICK_H_

#include <Task.h>
#include <MobileRob.h>
#include <MobileRob3D.h>
// #include <PositionDetector3D.h>
#include <Keyboard.h>
#ifndef MIP_PLATFORM_ARM
 #include <DraWin.h>
 #include <RemoteDevice.h>
#endif
#include <string.h>
#include <CommonOptions.h>
#include <SharedMem.h>
#include <FirFilter.h>


#define JVERBOSE 0

// #define JOYSTICK_LINVEL_STEP 0.015
#define JOYSTICK_LINVEL_STEP 0.005
// #define JOYSTICK_ANGVEL_STEP 0.1
#define JOYSTICK_ANGVEL_STEP 0.05

using namespace MipResources;

namespace MipTasks{
 
 /* @{ */
 
 class JoystickOptions : public Options {
  public:
   IntOption    *cmdType;
   DecimalOption  *speedFilterLag;
   PositionOption  *boundBoxCenter;
   DecimalOption  *boundBoxRadius;
 
   JoystickOptions();
   
   OptionGroupsType getGroup();
   string getObjectName() const {
    return "JoystickOptions";
   }
 };
 
 
 class JoystickSharedMem : public SharedMem{
  public:
   void initSharedMem(){
   }
   
   void togglePrintPose(){
    _printPose = !_printPose;
   }
   void togglePrintScan(){
    _printScan = !_printScan;
   }
   void togglePrintFeat(){
    _printFeat = !_printFeat;
   }
   void togglePrintFormation(){
    _printFormation = !_printFormation;
   }
   void togglePrintFormationDetails(){
    _printFormationDetails = !_printFormationDetails;
   }
   void togglePrintTarget(){
    _printTarget = !_printTarget;
   }
   void toggleDoMloc(){
    _doMloc = !_doMloc;
   }
   void toggleDoAutoNavigation(){
    _doAutoNavigation = !_doAutoNavigation;
   }
   
   
   
   bool printPose(){
    return _printPose;
   }
   bool printScan(){
    return _printScan;
   }
   bool doMloc(){
    return _doMloc;
   }
   bool doAutoNavigation(){
    return _doAutoNavigation;
   }
   
 };
 
 
 class Joystick : public Task{
 
  private:
   static const TaskPlate _plate = JOY_TASK;
   static const long int  _maxDurSec  = 0,    _maxDurUsec   = 150000;
   static const long int  _maxSamplPeriodSec = 0, _maxSamplPeriodUsec = 500000;
   static const long int  _minSamplPeriodSec = 0, _minSamplPeriodUsec = 50000;
 
   Keyboard*  _keyboard; 
   MobileRob*   _mobileRob; 
   MobileRob3D*   _mobileRob3D; 
   MotionModule*  _motionModule; 
   JoystickSharedMem*   _sharedMem;
#ifndef MIP_PLATFORM_ARM
   RemoteDevice* _remoteInputDevice;
#endif
   JoystickOptions _options;
 
   
   bool useMobileRob;
   bool useMotionModule;
   bool useMobileRob3D;
   bool useRemoteInputDevice;
   
   Decimal _linRangeMax;
 //   bool usePositionDetector3D;
   
 
   fstream _saveTState;
   fstream _saveTStateTime;
 
 #ifndef MIP_PLATFORM_ARM
   DraWin* _draWin;
   unsigned int _drawList; 
   bool         dwOn;
 #endif
 
   bool rangeSensOn;
   bool rangeSensPrint;
 
   Scan scan;
   Ray ray;
 
   bool _useSpeedFilter; 
   Decimal _speedFilterLag;
   FirFilter* _linVelFilter;
   FirFilter* _angVelFilter;
   
   Decimal _drive,_turnrate;
   
   Decimal _bbRadius;
   Position _bbCenter;
 
   bool _driveUnicycle(char command,Decimal& drive,Decimal& turnrate);
   void _driveRangeSensor(char command,MobileRob *mobileRob);
   void _driveFuntionalities(char command);
   
  public:
   Joystick(ResourcePointers resources,int argc, const char* argv[]);
   
   ~Joystick(){
    cout << "destr JoystickTask" << endl;
   }
   
   TaskPlate getPlate() const {
    return _plate;
   }  
   Time getMaxDuration(){
    return Time(_maxDurSec,_maxDurUsec);
   }
   Time getMaxSamplPeriod(){
    return Time(_maxSamplPeriodSec,_maxSamplPeriodUsec);
   }
   Time getMinSamplPeriod(){
    return Time(_minSamplPeriodSec,_minSamplPeriodUsec);
   }
   
   void draw();
   
   void writeSharedMem();
   
   TaskOutputs run();
 };
 
 /* @} */
 
}; // end namespace MipTasks

#endif