Processes/CMD/Cognition.h

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/** 
* @file Processes/CMD/Cognition.h
* Declaration of Cognition
*
* @author <a href="mailto:dueffert@informatik.hu-berlin.de">Uwe Düffert</a>
* @author <a href="mailto:juengel@informatik.hu-berlin.de">Matthias Jüngel</a>
* @author <a href="mailto:martin@martin-loetzsch.de">Martin Lötzsch</a>
* @author <a href="mailto:risler@sim.informatik.tu-darmstadt.de">Max Risler</a>
* @author <a href="mailto:roefer@tzi.de">Thomas Röfer</a>
*/

#ifndef __Cognition_H__
#define __Cognition_H__

#include "Tools/Process.h"
#include "Tools/Module/SolutionRequest.h"

#include "Platform/Sensors.h"
#include "Platform/UDPHandler.h"

#include "PackageMotionCognition.h"
#include "PackageCognitionMotion.h"

#include "Representations/Behavior/BallHandling.h"
#include "Modules/SensorDataProcessor/SensorDataProcessorSelector.h"
#include "Modules/ImageProcessor/ImageProcessorSelector.h"
#include "Modules/RobotStateDetector/RobotStateDetectorSelector.h"
#include "Modules/TeamBallLocator/TeamBallLocatorSelector.h"
#include "Modules/BallLocator/BallLocatorSelector.h"
#include "Modules/PlayersLocator/PlayersLocatorSelector.h"
#include "Modules/ObstaclesLocator/ObstaclesLocatorSelector.h"
#include "Modules/SelfLocator/SelfLocatorSelector.h"
#include "Modules/BehaviorControl/BehaviorControlSelector.h"
#include "Modules/SensorBehaviorControl/SensorBehaviorControlSelector.h"
#include "Modules/SpecialVision/DefaultSpecialVision.h"
#include "Modules/CollisionDetector/CollisionDetectorSelector.h"
#include "Modules/ColorTableMod/ColorTableModSelector.h"
#include "Modules/GTCam/GTCamSelector.h"

#include "Representations/Perception/ColorTable.h"
#include "Representations/Perception/ColorTable64.h"
#include "Representations/Perception/ColorTableTSL.h"
#include "Representations/Perception/ColorTable32K.h"
//#include "Representations/Perception/LandmarksPercept.h"
#include "Representations/Perception/BallPercept.h"
#include "Representations/Perception/PlayersPercept.h"
#include "Representations/Perception/LinesPercept.h"
#include "Representations/Perception/EdgesPercept.h"
#include "Representations/Perception/CameraMatrix.h"
#include "Representations/Cognition/GTCamWorldState.h"
#include "Representations/Cognition/PassCorridorCollection.h"

#include "Modules/BallLocator/GT2005Particles/GT2005ParticleContainer.h"
#include "Representations/Cognition/RobotPoseCollection.h"
#include "Tools/Debugging/Trace.h"

/**
* @class Cognition
*
* A Process for cognition related modules in the HU1 process layout.
*/
class Cognition: public Process, public Sensors
{
private:
#ifndef NO_PROCESS_FRAMEWORK
  DEBUGGING;
  GTCAM_HANDLER;
  GTCAM_TIMESYNC_HANDLER;

// Use of StatusBroadcast
#ifndef NSTATUSBROADCASTHANDLER
  STATUSBROADCAST_HANDLER;
#endif

  RECEIVER(SensorDataBuffer);
  RECEIVER(Image);
  NET_RECEIVER(GameControlData);
  RECEIVER(PackageMotionCognition);
  RECEIVER(OdometryData);


// Use of Network encryption
  NET_SENDER(TeamMessage1);
  NET_SENDER(TeamMessage2);
  NET_SENDER(TeamMessage3);
  NET_RECEIVER(TeamMessage1);
  NET_RECEIVER(TeamMessage2);
  NET_RECEIVER(TeamMessage3);
#ifdef FIVEDOGS
  NET_RECEIVER(TeamMessage4);
  NET_SENDER(TeamMessage4);
#endif

  SENDER(PackageCognitionMotion);
  SHARED_SENDER(Trace);
  SHARED_RECEIVER(Trace);
  UDP_HANDLER;
  UDP_BROADCAST_HANDLER(GameControlData);
#endif

#ifdef NO_PROCESS_FRAMEWORK
  MessageQueue theDebugReceiver;
  MessageQueue theDebugSender;

  SensorDataBuffer theSensorDataBufferReceiver;
  Image theImageReceiver;
  GameControlData theGameControlDataReceiver;
  PackageMotionCognition thePackageMotionCognitionReceiver;
  OdometryData theOdometryDataReceiver;
  PackageCognitionMotion thePackageCognitionMotionSender;
#endif


public:
  /** constructor */
  Cognition();
  
  /** destructor */
  ~Cognition();
  
  /** is called from the framework once in every frame */
  virtual int main();
  
  /** is called direct before the first call of main() */
  virtual void init();
  
  /** 
  * The function handles incoming debug messages.
  * @param message the message to handle
  * @return Has the message been handled?
  */
  virtual bool handleMessage(InMessage& message);
  
protected:
  /** If true, then a new image was received in the current frame */
  bool processImage;
  
  /** If true, then new sensor data were received in the current frame */
  bool processSensorData;
  
  /** If true, then percepts were received or generated in the current frame */
  bool processPercepts;

  /** A GTCam Worldstate */
  GTCamWorldState gtCamWorldStateIN;
  GTCamWorldState gtCamWorldStateOUT;
  
  //!@name modules
  //!@{
  
  /** a reference to the colortable selector */
  ColorTableModSelector* pColorTableMod;
  
  /** a reference to the image processor */
  ImageProcessorSelector* pImageProcessor;
  
  /** a reference to the sensor data processor */
  SensorDataProcessorSelector* pSensorDataProcessor;
  
  /** a reference to the collision detector */
  CollisionDetectorSelector* pCollisionDetector;
  
  /** a reference to the robot state detector */
  RobotStateDetectorSelector* pRobotStateDetector;
  
  /** a reference to the ball-locator */
  BallLocatorSelector* pBallLocator;
  
  /** a reference to the team ball locator */
  TeamBallLocatorSelector* pTeamBallLocator;
  
  /** a reference to the players-locator */
  PlayersLocatorSelector* pPlayersLocator;
  
  /** a reference to the obstacles-locator */
  ObstaclesLocatorSelector* pObstaclesLocator;
  
  /** a reference to the self-locator */
  SelfLocatorSelector* pSelfLocator;
  
  /** a reference to the behavior control */
  BehaviorControlSelector* pBehaviorControl;
  
  /** a reference to sensor based behavior control */
  SensorBehaviorControlSelector* pSensorBehaviorControl;
  
  /** a reference to the special vison module*/
  SpecialVision* pSpecialVision;

  /** a reference to the GTCamSelector*/
  GTCamSelector* pGTCamSelector;
  
  //!@}
  
  //!@name representations
  //!@{
  
  /** the color tables */
  char colorTableBuffer[sizeof(ColorTable64) > sizeof(ColorTableTSL) 
    ? sizeof(ColorTable64) > sizeof(ColorTable32K) ? sizeof(ColorTable64) 
    : sizeof(ColorTable32K)
    : sizeof(ColorTableTSL) > sizeof (ColorTable32K)
    ? sizeof(ColorTableTSL) : sizeof(ColorTable32K)];
  /** the color table */
  ColorTable& colorTable;
  
  /** The offset and rotation of the camera */
  CameraMatrix cameraMatrix;
  
  /** Detected balls */
  BallPercept ballPercept;
  
  /** Detected players */
  PlayersPercept playersPercept;
  
  /** Detected obstacles */
  ObstaclesPercept obstaclesPercept;
  
  /** The collision percept */
  CollisionPercept collisionPercept;
  
  /** Detected lines */
  LinesPercept linesPercept;
  
  /** Detected edges */
  EdgesPercept edgesPercept;
  
  /** Detected switches */
  BodyPercept bodyPercept;

  /** The height and the inclination of the robot's body */
  BodyPosture bodyPosture;

  /** A spot relative to the robot that was detected by the PSD sensor */
  PSDPercept psdPercept;
  
  /** A special percept */
  SpecialPercept specialPercept;
  
  /** The request for the specialVision module*/
  SpecialVisionRequest specialVisionRequest;
  
  /** The request for calibration*/
  CalibrationRequest calibrationRequest;
  
  /** The sample set proxy linked to the sample set of the active locator */
  SampleSetProxy<PoseSample> selfLocatorSamples;

  /** The particles of the ball locator */
  GT2005ParticleContainer ballLocatorSamples;

  /** The calculated pass corridors */
  PassCorridorCollection passCorridorCollection;

  /** The players model set by the players locator */
  PlayersModel playersModel;

  /** The team message collection */
  TeamMessageCollection teamMessageCollection;
  
  /** The outgoing behavior team message */
  BehaviorTeamMessage outgoingBehaviorTeamMessage;
  
  /** Data produced by an extern sensor called joystick */
  JoystickData joystickData;

  /** robot pose collection */
  RobotPoseCollection robotPoseCollection;

  /** The feedback of the behavior about the ball handling */
  BallHandling ballHandling;

  unsigned long lastFrameNumber;
  
  void performFpsMeasure(); 
  unsigned long fpsCounter;
  unsigned long fpsLastMeasureTime;
  //!@}

  /** Has a trace already been stored? */
  bool traceStored;
};


#endif // __Cognition_H__

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