HeadController.h

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//-*-c++-*-
#ifndef INCLUDED_HeadController_h_
#define INCLUDED_HeadController_h_

#include <iostream>
#include "Wireless/Wireless.h"
#include "Behaviors/BehaviorBase.h"
#include "Motion/MotionManager.h"
#include "Events/EventRouter.h"
#include "Events/EventBase.h"
#include "Shared/Config.h"

//! Listens to control commands coming in from the command port for remotely controlling the head
/*! The communication protocol is a very simple binary format, shared
 *  with WalkControllerBehavior.  Each command is sent as a 5-byte
 *  group.  The first byte is a command selector, and the following 4
 *  bytes are a floating point argument:
 *
 *  - <@c char: command indicator>
 *  - <@c float: value>
 *  
 *  The valid values for command indicator are given by #CMD_tilt,
 *  #CMD_pan, or #CMD_roll ('t', 'p', or 'r' respectively).
 */  
class HeadController : public BehaviorBase {

 public:  
  //! Points to the one HeadController object that the input
  //! command stream is talking to. A kludge. Dunno how you're gonna
  //! make sure you're not using this uninitialized.
  static HeadController * theOne;
  static int mechacmd_callback(char *buf, int bytes); //!< called by wireless when there's new data

 protected:
  MotionManager::MC_ID head_id;   //!< the HeadPointerMC to use
 
 private:
  //!@name Command Bytes
  static const char CMD_tilt  = 't'; //!< handy symbol for matching incoming communication
  static const char CMD_pan   = 'p';
  static const char CMD_roll  = 'r';
  //@}

  float t; //!< head parameter
  float p; //!< head parameter
  float r; //!< head parameter

  //! The last HPCB object that was theOne, so we can restore it
  //! to prominence when we die. This is a nice gesture, but it doesn't
  //! really make sense since we're all using the same port. But just
  //! in case something changes and we don't do that, this mechanism
  //! is in place.
  HeadController *theLastOne;

  //! The input command stream socket
  Socket *cmdsock;

  //! Executes a command. Called by mechacmd_callback.
  void runCommand(unsigned char *command);

  HeadController(const HeadController&); //!< don't call
  HeadController operator=(const HeadController&); //!< don't call

 public:
  //! constructor
  HeadController() :
    BehaviorBase("HeadController"),
    head_id(MotionManager::invalid_MC_ID),
    t(0), p(0), r(0),
    theLastOne(theOne),
    cmdsock(NULL)
  {}
  //! destructor
  virtual ~HeadController() { theOne = theLastOne; }

  virtual void doStart();

  virtual void doStop();

  static std::string getClassDescription() {
    char tmp[20];
    sprintf(tmp,"%d",*config->main.headControl_port);
    return std::string("Listens to head control commands coming in from port ")+tmp;
  }
  virtual std::string getDescription() const { return getClassDescription(); }
};

/*! @file
 * @brief Describes HeadController, listens to control commands coming in from the command port for remotely controlling the head
 * @author tss (Creator)
 */

#endif