RemoteRob.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
//
// $Id$
//
// 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_ROB_H_
#define __REMOTE_ROB_H_

#include <socketUDP.h>
#include <CommonOptions.h>

#include "MobileRob.h"
#include "RemoteRangeSens.h"
#include <SsUtils.h>

namespace MipResources{
 /* @{ */


extern "C" void RRWork(void* p);

extern "C" void RRClean(void* p);

class RemoteRobPar : public MobileRobPar{
 private:
 public:
  RemoteRobPar(){};
  ~RemoteRobPar();
};

class RemoteRobVar : public MobileRobVar{
 private:
 public:
  Pose   _lastPose;
  Position _lastVelo;
  Pose   _lastPoseGoal; //TODO c'è già in MobileRobVar
  Position _lastVeloGoal; //TODO c'è già in MobileRobVar

  Time _lastPoseTime;
  Time _lastVeloTime;
  Time _lastPoseGoalTime;
  Time _lastVeloGoalTime;
  
  Scan lastScan;
  MotionModuleTState lastScanTState;
/*  
  Pose lastScanPose;
  Decimal lastScanLinVel;
  Decimal lastScanAngVel;
  Time lastScanTime;*/
  
  RemoteRobVar(){};
  ~RemoteRobVar(){};
};

class RemoteRob : public MobileRob{
 private:
  static const ResourcePlate _plate = MR_REM_RES;
  
  RemoteRobVar *_remoteVar; 
  // onboard sensors
  RemoteRangeSens  *_remoteRangeSens;   
//  Korebot   *_korebotMot;  ///< abstract Robot motion module

//  RemoteRangeSens  *_tcrt5000;   ///< abstract Robot IR range sensor

  
  Timer timer;
  int receivedScan ;
  
  Thread _RRThread;
  int myId;
  SenderUDP*  sender;
  ListenerUDP* listener;
  int   sendPort;
  int   listPort;
  string addr;
  bool  unconnected;
  
  // TODO: devo fare un thread che aggiorna questi campi, poi le getVel e simili che sono viste dall'esterno
  // riportano all'esterno questi campi
  

  void startConnection();
  void closeConnection();
  void RRParse(string &msg);
  
  virtual void sendString(string s){
   sender->send(s);
  }
  
  void upPose();
  void downPose();
  void sendOnePose();
  void sendNPose(int num);
  
  void upVelo();
  void downVelo();
  void sendOneVelo();
  void sendNVelo(int num);
  void setVelo(Position &vel);

  void upPoseGoal();
  void downPoseGoal();
  void sendOnePoseGoal();
  void sendNPoseGoal(int num);
  void setPoseGoal(Pose &pose);
  
  void upVeloGoal();
  void downVeloGoal();
  void sendOneVeloGoal();
  void sendNVeloGoal(int num);
  void setVeloGoal(Position vel);
  
  void getRangeSensPar();

 public:
  RemoteRob(int argc, const char* argv[]);
  
  ~RemoteRob();

  ResourcePlate getPlate() const {
   return _plate;
  }
  
  Scan scan(){
   Scan s;
   return s;
  };
  
  /* Scan */
  void startScan(unsigned int num);
  void stopScan();
  void startIR(unsigned int num);
  void stopIR();

  /* Motion Module */
  UnicyclePar* unicyclePar();
  
  void velCmd(Decimal drive, Decimal turnrate);
  
  void getVel(Decimal& drive, Decimal& turnrate);
  
  Pose getPose(void);
  
  MotionModuleTState getMotionState();
  
  void setPose(Pose p);
  
  bool setMotionState(MotionModuleState state, bool setPastTimeStamp=false, Time pastTimeStamp=Time());
  
  bool storedScan(Scan& s,Time timeout);
  bool updatedScan(Scan& s);
  bool updatedScan(Scan& s, MotionModuleTState& state);
  
  
  void RRReceive(){
  //    cout << "entro in ricezione" << endl;
   string sender_addr;
   bool emptysocket = listener->lSelect();
   while(emptysocket == 1){
    string s;
    listener->receive(s, sender_addr);
  //     cout << "# receiving one packet " << s << "|   ";
    RRParse(s);
    emptysocket = listener->lSelect();
   }
  }
};

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

#endif