Modules/BehaviorControl/BehaviorControlSelector.h

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/**
* @file BehaviorControlSelector.h
* 
* Definition of class BehaviorControlSelector
*
* @author Max Risler
* @author Martin Lötzsch
* @author Matthias Jüngel
*/

#ifndef __BehaviorControlSelector_h_
#define __BehaviorControlSelector_h_

#include "Tools/Module/ModuleSelector.h"

#include "BehaviorControl.h"
#include "GT2005BehaviorControl/GT2005BehaviorControl.h"

/**
* BehaviorControl selection module.
*
* A selector for behavior control modules.
*/
class BehaviorControlSelector : public ModuleSelector, public BehaviorControlInterfaces
{
public:
/**
* Constructor.
* @param handler The module handler of the process.
* @param interfaces The paramters of the BehaviorControl module.
  */
  BehaviorControlSelector(ModuleHandler &handler, const BehaviorControlInterfaces& interfaces)
    : ModuleSelector(SolutionRequest::behaviorControl),
    BehaviorControlInterfaces(interfaces)
  {
    handler.setModuleSelector(SolutionRequest::behaviorControl, this);
  }
  
  
  /** 
  * Is called on start and when the selected solution changes
  * to create a specific solution.
  * @param id The id of the solution to create
  * @return The created solution or 0
  */
  virtual Module* createSolution(SolutionRequest::ModuleSolutionID id)
  {
    switch(id)
    {
    case SolutionRequest::gt2005BehaviorControlAgentSoccer:
      return new Xabsl2BehaviorControlAgentInterface("soccer",new GT2005BehaviorControl(*this),*this);

    case SolutionRequest::gt2005BehaviorControlAgentPenaltyShooter:
      return new Xabsl2BehaviorControlAgentInterface("penalty-shooter",new GT2005BehaviorControl(*this),*this);

    case SolutionRequest::gt2005BehaviorControlAgentPenaltyShooter2:
      return new Xabsl2BehaviorControlAgentInterface("penalty-shooter2",new GT2005BehaviorControl(*this),*this);

    case SolutionRequest::gt2005BehaviorControlAgentPenaltyGoalie:
      return new Xabsl2BehaviorControlAgentInterface("penalty-goalie",new GT2005BehaviorControl(*this),*this);

    case SolutionRequest::gt2005BehaviorControlAgentJoystickControlled:
      return new Xabsl2BehaviorControlAgentInterface("joystick-controlled",new GT2005BehaviorControl(*this),*this);
    
    case SolutionRequest::gt2005BehaviorControlAgentSlamChallange:
      return new Xabsl2BehaviorControlAgentInterface("slam", new GT2005BehaviorControl(*this),*this);

    case SolutionRequest::gt2005BehaviorControlAgentVLCshooter:
      return new Xabsl2BehaviorControlAgentInterface("vlc-shooter",new GT2005BehaviorControl(*this),*this);

    case SolutionRequest::gt2005BehaviorControlAgentVLC2shooter:
      return new Xabsl2BehaviorControlAgentInterface("vlc2-shooter",new GT2005BehaviorControl(*this),*this);

    case SolutionRequest::gt2005BehaviorControlAgentObstacleAvoidanceChallange03:
      return new Xabsl2BehaviorControlAgentInterface("obstacle-avoidance-agent", new GT2005BehaviorControl(*this),*this); 

    case SolutionRequest::gt2005BehaviorControlAgentOdometryTester:
      return new Xabsl2BehaviorControlAgentInterface("odometry-tester", new GT2005BehaviorControl(*this),*this); 

    case SolutionRequest::gt2005BehaviorControlAgentGuideDog:
      return new Xabsl2BehaviorControlAgentInterface("guide-dog",new GT2005BehaviorControl(*this),*this);
   
    case SolutionRequest::gt2005BehaviorControlAgentBlindDog:
      return new Xabsl2BehaviorControlAgentInterface("blind-dog",new GT2005BehaviorControl(*this),*this);

    case SolutionRequest::gt2005BehaviorControlAgentKickLogger:
      return new Xabsl2BehaviorControlAgentInterface("kick-logger",new GT2005BehaviorControl(*this),*this);

    case SolutionRequest::gt2005BehaviorControlAgentBasicsTester:
      return new Xabsl2BehaviorControlAgentInterface("basics-tester",new GT2005BehaviorControl(*this),*this);

    default:
      return 0;
    }
  }
  
};

#endif // __BehaviorControlSelector_h_

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