WaypointWalkControl.h

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

#include "ControlBase.h"
#include "IPC/SharedObject.h"
#include "Motion/WaypointEngine.h"

class NullControl;
class ToggleControl;
class FileInputControl;
class StringInputControl;

//! Allows interactive control and execution of a set of waypoints 
class WaypointWalkControl : public ControlBase {
public:
  //!constructor
  WaypointWalkControl();

  //! add #walk_id to ::motman
  virtual ControlBase * activate(MC_ID disp_id, Socket * gui);

  //!will be called after each waypoint is reached so we can update the menu
  virtual void refresh();

  //! remove the #walk_id from ::motman
  virtual void deactivate(); 

  //!handles selection of menu items
  virtual ControlBase* doSelect();
  
  // sends all events received to stdout and/or logfile
  //virtual void processEvent(const EventBase& event);

  //! handles editing of individual waypoints
  class WaypointEditControl : public ControlBase {
  public:
    //!constructor
    WaypointEditControl(const std::string& n, const std::string& d, MC_ID walkid, WaypointEngine::WaypointListIter_t waypointid);
    //!handles selection of menu items
    virtual ControlBase* doSelect();
  protected:
    MC_ID walk_id; //!< id number of the WaypointWalk
    WaypointEngine::WaypointListIter_t waypoint_id; //!< id of the waypoint this is editing
    NullControl * up;  //!< command to move up in list
    NullControl * down;//!< command to move down in list
    NullControl * del; //!< command to delete from list
    NullControl * set; //!< command to start targeting this location
  private:
    WaypointEditControl(const WaypointEditControl&); //!< don't call
    WaypointEditControl operator=(const WaypointEditControl&); //!< don't call
  };

protected:
  bool isRunning; //!< true if #walk_id is currently running
  NullControl * startstopCtl; //!< start and stop waypoint running
  ToggleControl * loopCtl; //!< repeat waypoints
  NullControl * addEgoWPCtl; //!< start and stop waypoint running
  NullControl * addOffWPCtl; //!< start and stop waypoint running
  NullControl * addAbsWPCtl; //!< start and stop waypoint running
  FileInputControl * loadCtl; //!< allows loading of a path
  StringInputControl * saveCtl; //!< save a path to a file
  StringInputControl * localizationCtl; //!< enter localization updates manually

  unsigned int listOffset; //!< the index of the first waypoint in the menu

  MC_ID walk_id; //!< id number of the walk we're using, so we can check it out before modifying it

private:
  WaypointWalkControl(const WaypointWalkControl&); //!< don't call
  WaypointWalkControl operator=(const WaypointWalkControl&); //!< don't call
};

/*! @file
 * @brief Describes WaypointWalkControl, which allows interactive control and execution of a set of waypoints 
 * @author ejt (Creator)
 */

#endif