FormControlMsgs.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 __FORM_CONTROL_MESSAGES__
#define __FORM_CONTROL_MESSAGES__

#define F_CTRL_MSG_ID "forCtrl"

#include <Types.h>
#include <string>

#include <Message.h>

using namespace std;
using namespace MipBaselib;

enum FormCtrlHeaders {
 FORM_CTRL_POSITION,
 FORM_CTRL_VIRT_POINT,
 FORM_CTRL_SCALE,
 FORM_CTRL_VP_AND_SCALE,
 
 FORM_CTRL_NUM,
};


static const char* formCtrlHeaderNames[FORM_CTRL_NUM] = {
 "robot position",
 "virtual point",
 "shape scale"
 "virtual point and shape scale"
};


class FormCtrlMsg : public Message{
 protected:
  FormCtrlMsg(){
   string id(F_CTRL_MSG_ID);
   setId(id);
  }
 
 public:
  int robotId;
  FormCtrlHeaders header;
  
  FormCtrlMsg(const string& inMessage){
   inMessage.copy((char* ) this, sizeof(FormCtrlMsg));
  }
};


class FormCtrlMsgPos : public FormCtrlMsg{
 public:
 
  Decimal x;
  Decimal y;
  Decimal z;

  FormCtrlMsgPos(int robotId_ = 0, Decimal x_=0.0, Decimal y_=0.0, Decimal z_=0.0){
   robotId = robotId_;
   header = FORM_CTRL_POSITION;
   x = x_;
   y = y_;
   z = z_;
  }
  
  FormCtrlMsgPos(const string& inMessage){
   constructor<FormCtrlMsgPos>(inMessage);
  }
 
  void encode(string& outMessage){
   encoder<FormCtrlMsgPos>(outMessage);
  }
};


class FormCtrlMsgVirtPoint : public FormCtrlMsg{
 public:
 
  Decimal x;
  Decimal y;
  Decimal z;

  FormCtrlMsgVirtPoint(int robotId_ = 0, Decimal x_=0.0, Decimal y_=0.0, Decimal z_=0.0){
   robotId = robotId_;
   header = FORM_CTRL_VIRT_POINT;
   x = x_;
   y = y_;
   z = z_;
  }
  
  FormCtrlMsgVirtPoint(const string& inMessage){
   constructor<FormCtrlMsgVirtPoint>(inMessage);
  }
 
  void encode(string& outMessage){
   encoder<FormCtrlMsgVirtPoint>(outMessage);
  }
};


class FormCtrlMsgScale : public FormCtrlMsg{
 public:
 
  Decimal scale;

  FormCtrlMsgScale(int robotId_ = 0, Decimal scale_=1.0){
   robotId = robotId_;
   header = FORM_CTRL_SCALE;

   scale = scale_;
  }
  
  FormCtrlMsgScale(const string& inMessage){
   constructor<FormCtrlMsgScale>(inMessage);
  }
 
  void encode(string& outMessage){
   encoder<FormCtrlMsgScale>(outMessage);
  }
};


class FormCtrlMsgVPAndScale : public FormCtrlMsg{
 public:
 
  Decimal x;
  Decimal y;
  Decimal z;
  Decimal scale;

  FormCtrlMsgVPAndScale(int robotId_ = 0, Decimal x_=0.0, Decimal y_=0.0, Decimal z_=0.0, Decimal scale_=1.0){
   robotId = robotId_;
   header = FORM_CTRL_VP_AND_SCALE;
   x = x_;
   y = y_;
   z = z_;
   scale = scale_;
  }
  
  FormCtrlMsgVPAndScale(const string& inMessage){
   constructor<FormCtrlMsgVPAndScale>(inMessage);
  }
 
  void encode(string& outMessage){
   encoder<FormCtrlMsgVPAndScale>(outMessage);
  }
};


 
#endif