Modules/BehaviorControl/BehaviorControl.h

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/**
* @file BehaviorControl.h
* 
* Implementation of class BehaviorControl
*/

#ifndef __BehaviorControl_h_
#define __BehaviorControl_h_


#ifdef _WIN32
#pragma warning(disable:4786) 
// the constructor with all it's long parameter type names results in a too
// long debug identifier
#endif

#include "Tools/Module/Module.h"

#include "Representations/Behavior/BallHandling.h"
#include "Representations/Cognition/RobotPose.h"
#include "Representations/Cognition/BallModel.h"
#include "Representations/Cognition/PlayerPoseCollection.h"
#include "Representations/Cognition/ObstaclesModel.h"
#include "Representations/Cognition/PlayersModel.h"
#include "Representations/Cognition/RobotState.h"
#include "Representations/Cognition/SampleSet.h"
#include "Representations/Cognition/GTCamWorldState.h" 
#include "Representations/Cognition/PassCorridorCollection.h" 
#include "Representations/Motion/MotionInfo.h"
#include "Representations/Motion/LEDRequest.h"
#include "Representations/Motion/HeadControlMode.h"
#include "Representations/Motion/OdometryData.h"
#include "Representations/Sound/SoundRequest.h"
#include "Representations/Perception/SpecialPercept.h"
#include "Representations/Perception/SpecialVisionRequest.h"
#include "Representations/Perception/CalibrationRequest.h"
#include "Representations/Perception/SensorDataBuffer.h"
#include "Representations/RoboCup/GameControlData.h"
#include "Representations/WLan/TeamMessageCollection.h"
#include "Representations/JoystickData.h"
#include "Tools/MessageQueue/InMessage.h"
#include "Modules/WalkingEngine/InvKinWalkingParameters.h"
#include "Modules/WalkingEngine/GT2004ParameterSet.h"
#include "Representations/Perception/PSDPercept.h"

#include "Modules/WalkingEngine/GT2005Parameters.h"
#include "Modules/WalkingEngine/GT2005DebugData.h"
#include "Representations/Perception/CameraMatrix.h"


/**
* @class BehaviorControlInterfaces
* 
* The interfaces of the BehaviorControl module.
*/
class BehaviorControlInterfaces
{
public:
  /** Constructor.*/
  BehaviorControlInterfaces(
    const RobotPose& robotPose,
    const BallModel& ballModel,
    const PlayerPoseCollection& playerPoseCollection,
    const ObstaclesModel& obstaclesModel,
    const RobotState& robotState,
    const MotionInfo& motionInfo,
    const SpecialPercept& specialPercept,
    const TeamMessageCollection& teamMessageCollection,
    const JoystickData& joystickData,
    const OdometryData& odometryData,
    const SampleSetProxy<PoseSample>& selfLocatorSamples,
    const SensorDataBuffer& sensorDataBuffer,
    const PSDPercept& psdPercept,
    const GTCamWorldState& gtCamWorldState,
    const PassCorridorCollection &passCorridorCollection,
    const PlayersModel &playersModel,

    const GameControlData& gameControlData,
    MotionRequest& motionRequest,
    LEDRequest& ledRequest,
    HeadControlMode& headControlMode,
    SoundRequest& soundRequest,
    InvKinWalkingParameters& invKinWalkingParameters,
    GT2004Parameters& gt2004Parameters,
    unsigned long& walkParameterTimeStamp,
    SpecialVisionRequest& specialVisionRequest,
    CalibrationRequest& calibrationRequest,
    BehaviorTeamMessage& outgoingBehaviorTeamMessage,
    //****for GT2005WalkingEngine****
    GTWalkParametersIndividual& gt2005Parameters,
    GT2005DebugData& gt2005DebugData,
    const CameraMatrix& cameraMatrix,
    BallHandling& ballHandling)
  : robotPose(robotPose),
    ballModel(ballModel),
    playerPoseCollection(playerPoseCollection),
    obstaclesModel(obstaclesModel),
    robotState(robotState),
    motionInfo(motionInfo),
    specialPercept(specialPercept),
    teamMessageCollection(teamMessageCollection),
    joystickData(joystickData),
    odometryData(odometryData),
    selfLocatorSamples(selfLocatorSamples),
    sensorDataBuffer(sensorDataBuffer),
    psdPercept(psdPercept),
    gtCamWorldState(gtCamWorldState), 
    passCorridorCollection(passCorridorCollection),
    playersModel(playersModel),
    gameControlData(gameControlData),
    motionRequest(motionRequest),
    ledRequest(ledRequest),
    headControlMode(headControlMode),
    soundRequest(soundRequest),
    invKinWalkingParameters(invKinWalkingParameters),
    gt2004Parameters(gt2004Parameters),
    walkParameterTimeStamp(walkParameterTimeStamp),
    specialVisionRequest(specialVisionRequest),
    calibrationRequest(calibrationRequest),
    outgoingBehaviorTeamMessage(outgoingBehaviorTeamMessage),
    //****for GT2005WalkingEngine****
    gt2005Parameters(gt2005Parameters),
    gt2005DebugData(gt2005DebugData),
    cameraMatrix(cameraMatrix),
    ballHandling(ballHandling)
  {}
  
protected:
  /** The robots position and orientation */
  const RobotPose& robotPose;
  
  /** The position and the speed of the ball */
  const BallModel& ballModel;
  
  /** The positions of the own and opponent players */
  const PlayerPoseCollection& playerPoseCollection;

  /** The positions of the obstacles */
  const ObstaclesModel& obstaclesModel;
  
  /** Pressed switches and fall downs */
  const RobotState& robotState;

  /** The motions that are currently executed by the MotionControl */
  const MotionInfo& motionInfo;
  
  /** Special percepts for challenges */
  const SpecialPercept& specialPercept;
  
  /** Messages from teammates */
  const TeamMessageCollection& teamMessageCollection;
  
  /** Data produced by an extern sensor called joystick */
  const JoystickData& joystickData;
  
  /** Odomety Data */
  const OdometryData& odometryData;

  /**  The sample set proxy linked to the sample set of the active locator */
  const SampleSetProxy<PoseSample>& selfLocatorSamples;

  /** The sensor data */
  const SensorDataBuffer& sensorDataBuffer;

  /** The PSDPercept*/
  const PSDPercept& psdPercept;

  /** The worldstate generated by the GTCam */
  const GTCamWorldState& gtCamWorldState;

  /** The pass corridors created by the player model */
  const PassCorridorCollection& passCorridorCollection;

  /** The players model created by the players model */
  const PlayersModel& playersModel;

  /** Messages that are sent by the referee */ 
  const GameControlData& gameControlData;
  
  /** The motion request to be set by the behavior */
  MotionRequest& motionRequest;
  
  /** The led request to be set by the behavior */
  LEDRequest& ledRequest;
  
  /** The head control mode to be set by the behavior */
  HeadControlMode& headControlMode;
  
  /** The acoustic message to be set by the behavior */
  SoundRequest& soundRequest;

  /** walking parameter sets to be used by the WalkingEngine, eg calculated by evolution behavior */
  InvKinWalkingParameters& invKinWalkingParameters;
  GT2004Parameters& gt2004Parameters;
  unsigned long& walkParameterTimeStamp;
  
  /** A request for special vision modules for challenges */
  SpecialVisionRequest& specialVisionRequest;
  
  /** A request for calibration */
  CalibrationRequest& calibrationRequest;
  
  /** Messages to teammates */
  BehaviorTeamMessage& outgoingBehaviorTeamMessage;

  //****for GT2005WalkingEngine****
  GTWalkParametersIndividual& gt2005Parameters;
  GT2005DebugData& gt2005DebugData;

  const CameraMatrix& cameraMatrix;

  /** Behavior feedback to other modules about the handling of the ball */
  BallHandling& ballHandling;
};

/**
* @class BehaviorControl 
*
* The Base class for behavior controls
*/
class BehaviorControl : public Module, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the BehaviorControl module.
  */
  BehaviorControl(const BehaviorControlInterfaces& interfaces)
    : BehaviorControlInterfaces(interfaces)
  {}
  
  /** Destructor */
  virtual ~BehaviorControl() {}
};

#endif //__BehaviorControl_h_

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