RemoteMotionModule.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
//
// ----------------------------------------------------------------------------





#ifndef __REMOTE_MOTION_MODULE_H__
#define __REMOTE_MOTION_MODULE_H__

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <baselib.h>
#include <MotionModule.h>
#include <socketUDP.h>
#include <SsUtils.h>


using namespace std;



namespace MipResources{
 /* @{ */



class RemoteMotionModulePar : public MotionModulePar{
 private:
  SenderUDP*   _sender;
  ListenerUDP* _listener;
  
  
  bool parseMotionModuleParMessage(stringstream &ss, string &msg);
  
 protected:
  Decimal _providedMaxDrive(void){
   return 100000.0; //FIXME
  }
  Decimal _providedMaxTurnRate(void){
   return 100000.0; //FIXME
  }
  string  _providedName(){
   return string("PlayerPosition2d");
  }
 
 public:
  
  RemoteMotionModulePar(SenderUDP* sender, ListenerUDP* listener);
  
  SenderUDP* sender(){
   return _sender;
  }
};


class RemoteMotionModuleVar : public MotionModuleTState{};


class RemoteMotionModule : public MotionModule{
 private:
  static const ResourcePlate _plate = MM_REM_RES;
 
 protected:
  /* PROMEMO from abstract class */
  /* MotionModulePar *_par; */
  /* Scan         _scan; */
  RemoteMotionModulePar *_remPar;
  RemoteMotionModuleVar *_remVar;
  
  MotionModuleTState _providedLocStep(){
   return MotionModuleTState(_remVar->pose,_remVar->linVel,_remVar->angVel,_remVar->timeStamp);
  };
  
  void _providedLocSet(MotionModuleState state){
   stringstream s;
   s << "pos ";
   SsUtils::encrypt(state.pose, s);
   string msg(s.str());
   _remPar->sender()->send(msg);
   bool wait = true;
  };
  
  virtual void _providedSetCommands(Decimal drive, Decimal turnrate){
   stringstream ss;
   ss << "ves ";
   SsUtils::encrypt(vel, ss);
   string msg(ss.str());
   sender->send(msg);
 
   stringstream ssd;
   ssd << "real msg -> " << msg;
   debug(5,ssd.str());
   ssd.str("");
   ssd << "returned vel -> " << vel.print();
   debug(5,ssd.str());
  }
 
 public:
  virtual ResourcePlate getPlate() const {
   return _plate;
  }
  
  RemoteMotionModule(SenderUDP* sender, ListenerUDP* listener, int argc, const char* argv[]);

  ~RemoteMotionModule(){
  }
};

 /* @} */
 
};// end namespace MipResources{



#endif