00001
00002 #ifndef INCLUDED_RunSequenceControl_h_
00003 #define INCLUDED_RunSequenceControl_h_
00004
00005 #include "FileBrowserControl.h"
00006 #include "Motion/MotionSequenceMC.h"
00007 #include "Motion/EmergencyStopMC.h"
00008 #include "Motion/LedMC.h"
00009 #include "SoundPlay/SoundManager.h"
00010 #include "Motion/MMAccessor.h"
00011 #include "Shared/TimeET.h"
00012 #include "Shared/Config.h"
00013 #include <string>
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00025
00026 template<unsigned int SequenceSize>
00027 class RunSequenceControl : public FileBrowserControl, public EventListener {
00028 public:
00029
00030 RunSequenceControl(const std::string& n, MotionManager::MC_ID estop_id)
00031 : FileBrowserControl(n,"Runs a motion sequence from a user-specified file",config->motion.root), estopid(estop_id), ledid(MotionManager::invalid_MC_ID), waitingFile()
00032 {
00033 setFilter("*.mot");
00034 }
00035
00036
00037 virtual void processEvent(const EventBase& event) {
00038 erouter->removeListener(this,event);
00039 runFile();
00040 motman->removeMotion(ledid);
00041 }
00042
00043 protected:
00044
00045 void runFile() {
00046
00047 SharedObject< MotionSequenceMC<SequenceSize> > s(waitingFile.c_str());
00048
00049 motman->addPrunableMotion(s,MotionManager::kEmergencyPriority+1);
00050 waitingFile="";
00051 }
00052
00053
00054 virtual ControlBase* selectedFile(const std::string& f) {
00055 waitingFile=f;
00056 if(!MMAccessor<EmergencyStopMC>(estopid)->getStopped()) {
00057 runFile();
00058 } else {
00059
00060 sndman->PlayFile("donkey.wav");
00061 SharedObject<LedMC> led;
00062 led->cycle(BotLLEDMask,1000,3,0,0);
00063 led->cycle(BotRLEDMask,1000,3,0,500);
00064 ledid=motman->addPersistentMotion(led);
00065 erouter->addListener(this,EventBase::estopEGID,estopid,EventBase::deactivateETID);
00066 }
00067 return this;
00068 }
00069
00070 MotionManager::MC_ID estopid;
00071 MotionManager::MC_ID ledid;
00072 std::string waitingFile;
00073 };
00074
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00085
00086 #endif