WiiMoteInfo.h

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

#include <cmath>
#include <stdlib.h>
#include "CommonInfo.h"
using namespace RobotInfo;

// see http://tekkotsu.org/porting.html#configuration for more information on TGT_HAS_* flags
#if defined(TGT_WIIMOTE)
#  define TGT_HAS_LEDS 2
#endif

//! Contains information about the WiiMote remote control
namespace WiiMoteInfo {
  
  // *******************************
  //       ROBOT CONFIGURATION
  // *******************************

  extern const char* const TargetName; //!< the name of the model, to be used for logging and remote GUIs

  const unsigned int FrameTime=15;        //!< time between frames in the motion system (milliseconds)
  const unsigned int NumFrames=1;        //!< the number of frames per buffer (don't forget also double buffered)
  const unsigned int SoundBufferTime=32; //!< the number of milliseconds per sound buffer... I'm not sure if this can be changed
  
  //!@name Output Types Information
  const unsigned NumWheels      =  0;
  
  const unsigned JointsPerArm   =  0;
  const unsigned NumArms        =  0;
  const unsigned NumArmJoints   =  0;
  
  const unsigned JointsPerLeg   =  0; //!< The number of joints per leg
  const unsigned NumLegs        =  0; //!< The number of legs
  const unsigned NumLegJoints   =  0;
  const unsigned NumHeadJoints  =  0; //!< The number of joints in the neck
  const unsigned NumTailJoints  =  0; //!< The number of joints assigned to the tail
  const unsigned NumMouthJoints =  0; //!< the number of joints that control the mouth
  const unsigned NumEarJoints   =  0; //!< The number of joints which control the ears (NOT per ear, is total)
  const unsigned NumButtons     =  11; //!< the number of buttons that are available, 2 head, 4 paws, 3 back, 1 underbelly see ERS7Info::ButtonOffset_t
  const unsigned NumSensors     =  3;  //!< the number of sensors available
  const unsigned NumLEDs        =  4; //!< The number of LEDs which can be controlled
  const unsigned NumFacePanelLEDs = 0; //!< The number of face panel LEDs
  
  const unsigned NumPIDJoints   = NumWheels; //!< servo pins
  const unsigned NumOutputs     = NumWheels + NumLEDs; //!< the total number of outputs
  const unsigned NumReferenceFrames = NumOutputs + 1 + NumArms; //!< for the base, gripper (* NumArms)

  // webcam ?
  const float CameraHorizFOV=0;
  const float CameraVertFOV=0;
  const float CameraFOV=0;
  const unsigned int CameraResolutionX=0;
  const unsigned int CameraResolutionY=0;
  //@}


  // *******************************
  //         OUTPUT OFFSETS
  // *******************************

  //!Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
  //!@name Output Offsets

  
  const unsigned PIDJointOffset = 0; //!< The beginning of the PID Joints
  const unsigned WheelOffset = PIDJointOffset;

  const unsigned LEDOffset   = WheelOffset+NumWheels;
  
  const unsigned MODE_OFFSET = LEDOffset + NumLEDs;
  const unsigned DEMO_OFFSET = MODE_OFFSET+1;

  const unsigned BaseFrameOffset   = NumOutputs; //!< Use with kinematics to refer to base reference frame

  enum WheelOffset_t { };
  
  //! The offsets of the individual LEDs on the head and tail.  Note that left/right are robot's point of view.  See also LEDBitMask_t
  /*! @hideinitializer */
  enum LEDOffset_t {
    LED0_Offset=LEDOffset,
    LED1_Offset,
    LED2_Offset,
    LED3_Offset
  };
  
  typedef unsigned int LEDBitMask_t; //!< So you can be clear when you're refering to a LED bitmask
  //! LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries)
  const LEDBitMask_t FaceLEDMask = 0;
  //! selects all of the leds
  const LEDBitMask_t AllLEDMask  = (LEDBitMask_t)~0;
  //@}

  enum InterfaceMode_t {
  };

  // *******************************
  //          INPUT OFFSETS
  // *******************************


  //! The order in which inputs should be stored
  //!@name Input Offsets

  //! holds offsets to different buttons in WorldState::buttons[]
  /*! Should be a straight mapping to the ButtonSourceIDs
   *
   *  @see WorldState::buttons
   * @hideinitializer */
  enum ButtonOffset_t {
    BUTTON_2,
    BUTTON_1,
    BUTTON_B,
    BUTTON_A,
    BUTTON_MINUS,
    BUTTON_HOME,
    BUTTON_LEFT,
    BUTTON_RIGHT,
    BUTTON_DOWN,
    BUTTON_UP,
    BUTTON_PLUS
  };

  //! Provides a string name for each button
  const char* const buttonNames[NumButtons+1] = 
    { "button 2", 
      "button 1", 
      "button B", 
      "button A", 
      "button minus", 
      "button home", 
      "button left", 
      "button right", 
      "button down", 
      "button up", 
      "button pus", 
      NULL
    }; // non-empty array to avoid gcc 3.4.2 internal error

  //! holds offset to different sensor values in WorldState::sensors[]
  /*! @see WorldState::sensors[] */
  enum SensorOffset_t { 
    X_OFFSET,
    Y_OFFSET,
    Z_OFFSET
  };
  
  enum IRComm_t {
    IR_X,
    IR_Y
  };
  /*const unsigned IR_BASE_MASK=240;
  const unsigned IR_BASE_RED_MASK=8;
  const unsigned IR_BASE_GREEN_MASK=4;
  const unsigned IR_BASE_FORCE_MASK=2;*/
    
  //! Provides a string name for each sensor
  const char* const sensorNames[NumSensors+1] = { 
    "x",
    "y",
    "z",
    NULL
  }; // non-empty array to avoid gcc 3.4.2 internal error

  //@}


  //! Names for each of the outputs
  const char* const outputNames[NumReferenceFrames+1] = {
    "LED 0",
    "LED 1",
    "LED 2",
    "LED 3",
    "BaseFrame",
    NULL
  };
  
  //! allocation declared in RobotInfo.cc
  extern const Capabilities capabilities;
  
  //! This table holds the default PID values for each joint.  see PIDMC
  const float DefaultPIDs[NumPIDJoints+1][3] = {
    {0,0,0} // extra value to avoid error in older versions of gcc (doesn't like empty array
  };
  
  //!These values are our recommended maximum joint velocities, in rad/ms
  const float MaxOutputSpeed[NumOutputs] = {
    0, 0, 0, 0
  };

  //! This table holds the software limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange)
  const float outputRanges[NumOutputs][2] =
    {
      { -1 , 1 },
      { -1 , 1 },
      { -1 , 1 },
      { -1 , 1 },
    };

  //! This table holds the mechanical limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange)
  /*! Same as #outputRanges, don't know actual values because they were never specified by Sony */
  const float mechanicalLimits[NumOutputs][2] =
    {
      { -1 , 1 },
      { -1 , 1 },
      { -1 , 1 },
      { -1 , 1 },
    };

}

/*! @file
 * @brief Defines some capabilities of the WiiMote
 * @author ejt (Creator)
 */

#endif