Modules/MotionControl/DebugMotionControl.h

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/**
* @file DebugMotionControl.h
*
* Definition of class DebugMotionControl.
* 
* @author Max Risler
*/

#ifndef __DebugMotionControl_h_
#define __DebugMotionControl_h_

#include "MotionStabilizer.h"
#include "MotionControl.h"
#include "Tools/Actorics/JointDataSequencer.h"

/**
* @class DebugMotionControl
*
* A MotionControl module for debugging purposes.
*
* It ignores MotionRequest but processes and executes
* JointDataSequence debug messages.
* 
* @author Max Risler
*/
class DebugMotionControl : public MotionControl, public MotionStabilizer
{
public:
/** 
* Constructor 
* @param interfaces The paramters of the MotionControl module.
  */
  DebugMotionControl(const MotionControlInterfaces& interfaces)
    : MotionControl(interfaces),
      tailcount(0)
  {}
  
  /** Executes the module */
  virtual void execute();
  
  /** 
  * Called from a MessageQueue to distribute messages.
  * Use message.getMessageID to decide if the message is relavant for 
  * the MesssageHandler derivate.
  * Use message.bin, message.text or message.config as In streams to get the data from.
  * @param message The message that can be read.
  * @return true if the message was read (handled).
  */
  virtual bool handleMessage(InMessage& message);
  
protected:
  
  /** Counter for ticks for tail movement. */
  int tailcount;

  /** the JointDataSequencer */
  JointDataSequencer sequencer;
  
  /** write sensorData back to jointData for joints with invalidValue
  * to disable any motion (=stay as forced)
  */
  void executeStayAsForced(
    const SensorData& sensorData,
    JointData& jointData
    );
  
  void setStayAsForcedValue(
    const SensorData& sensorData,
    JointData& jointData,
    SensorData::sensors sensor,
    JointData::JointID joint,
    long tolerance
    );
  
  /** old values for stay as forced mode */
  JointData stayAsForcedOldValue;

  /** Clips the set joint values to allowed values */
  void clip();
};

#endif// __DebugMotionControl_h_

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