Modules/RobotStateDetector/GT2005RobotStateDetector.h

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/**
* @file GT2005RobotStateDetector.h
*
* Definition of class DefaultRobotStateDetector
*
*/

#ifndef __DefaultRobotStateDetector_h_
#define __DefaultRobotStateDetector_h_

#include "RobotStateDetector.h"


#include "Tools/Debugging/Debugging.h" /////*****

/**
* @class DefaultRobotStateDetector
*
* A solution of the RobotStateDetector module.
*
* @author = Max Risler
*/
class GT2005RobotStateDetector : public RobotStateDetector
{
public:
  /** 
  * Constructor.
  * @param interfaces The paramters of the RobotStateDetector module.
  */
  GT2005RobotStateDetector(const RobotStateDetectorInterfaces& interfaces);

  /** Executes the module */
  virtual void execute();

private:

  void calculateCollisionState();

  void setNewButtonStatus();

  bool switchDown[BodyPercept::numOfSwitches];
  long switchDownTime[BodyPercept::numOfSwitches];
  long timeSinceLastCollision[6]; //here are the last collision time points
  long consecutiveCollisionTime[6]; //here are the consecutive collision time points
  long remindCollision; // time distance during which the last collision is remembered
  int getCollisionSide(); //on which side did more collisions occur
  void setCollisionOnLeftSide(bool collision); //add another collision to left side
  void setCollisionOnRightSide(bool collision);//add another collision to right side

  enum {middle = 0,
        left,
        right,
        robotSides};

  enum {maxFrameHistory = 200};

  bool numOfCollisions[maxFrameHistory][robotSides];


  /***/
  bool buttonPressed[BodyPercept::numOfSwitches]; //0 Button not pressed, 1 Button pressed
  long buttonTime[BodyPercept::numOfSwitches]; // The time as the button was pressed/released
  long buttonPressedTime[BodyPercept::numOfSwitches]; // How long the last button was pressed (after releasing it)
  long buttonDuration[BodyPercept::numOfSwitches]; // How long the button is pressed/released
  bool anyBackButtonPressed;  // The same information for any backbutton
  long anyBackButtonTime;
  long anyBackButtonPressedTime;
  long anyBackButtonDuration;
  /***/
};

#endif// __GT2005RobotStateDetector_h_

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