RemKhepServer.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 __REM_KHEP_SERVER_H_
#define __REM_KHEP_SERVER_H_

#include <IPCommModule.h>
#include <CommonOptions.h>

#include <remKhepComm.h>

#ifdef MIP_PLATFORM_ARM
 #include <Korebot.h>
#else
 #include <MotionModule.h>
#endif

#include <URG04LXmm.h>

// this is 22500 but means 25000 :)
// #define SAMPLE_TIME_USEC 49500
#define SAMPLE_TIME_USEC 30000
#define WAIT_TIME_USEC 1000

#define KHS_COMM_DEBUG 0
#define KHS_TIME_DEBUG 0
#define KHS_EXECUTE_DEBUG 0

using namespace std;
using namespace MipResources;

enum CommRateTypes {
 FIXED,
 VARIABLE,
 NUM_COMM_RATE_TYPES
};

class KheperaServerOptions : public Options{
 public:
  IntOption*   urg04lxActive;
  IntOption*   korebotActive;
  StringOption* commRateType;
  
  string getObjectName() const{
   return "KheperaServerOptions";
  }
  
  KheperaServerOptions();
};


class KheperaServer : MIPObject{
 
 private:
  char _stateBuffer[70];
  int _stateBufferCounter;
  int _numSentState;
  
  stringstream _ssWarning;
  stringstream _ssDebug;
  
  URG04LXmm* _urg04lx;
#ifdef MIP_PLATFORM_ARM
  Korebot*  _korebot;
#endif
  
  KheperaServerOptions _options;
  
//   bool _newVelocity;
  bool _newTState;
  Decimal _driveToBeSet;
  Decimal _turnrateToBeSet;
  MotionModuleTState _motionModuleTStateToBeSet;
  MotionModuleTState _lastMotionModuleTState;
  
  int   _sendPort;
  string _senderAddr;
  int   _listPort;
  
  ListenerUDP* _listener;
  SenderUDP*  _sender;
  
  vector<string> _incomingPackets;
  vector<string> _incomingPacketsSenders;
  vector<string> _outcomingPackets;
  
  Timer _execCmdsTimer;
  
  CommRateTypes _commRateType;
  
  string getObjectName() const {
   return "KheperaServer";
  }
  
 public:
  
  KheperaServer(int argc, const char* argv[]);
  
  bool searchConnection();
  
  void receiveCommands();
  
  void parseCommands();
  
  void executeCommands();
};


#endif