Modules/BehaviorControl/CommonXabsl2Symbols/HeadAndTailSymbols.cpp

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/** 
* @file HeadAndTailSymbols.cpp
*
* Implementation of class HeadAndTailSymbols.
*
* @author Uwe Düffert
* @author Martin Lötzsch
*/

#include "HeadAndTailSymbols.h"
#include "Tools/StringFunctions.h"

HeadAndTailSymbols::HeadAndTailSymbols(const BehaviorControlInterfaces& interfaces)
: BehaviorControlInterfaces(interfaces)
{
  searchForLandmarksEvoSpeed = 700;
}


void HeadAndTailSymbols::setSearchForLandmarksEvoSpeed()
{
  headControlMode.durationInEvolution = (int)searchForLandmarksEvoSpeed;
}

void HeadAndTailSymbols::registerSymbols(Xabsl2Engine& engine)
{
  int i;
  char s[256];

  // "head-control-mode"
  engine.registerEnumeratedOutputSymbol("head-control-mode",(int*)&headControlMode.headControlMode);
  for (i=0;i<HeadControlMode::numOfHeadControlModes;i++)
  {
    sprintf(s,"head-control-mode.");
    getXmlString(s+strlen(s),HeadControlMode::getHeadControlModeName((HeadControlMode::HeadControlModes)i));
    engine.registerEnumeratedOutputSymbolEnumElement("head-control-mode",s,i);
  }

  // head-speed for search-for-landmarks-evolution
  engine.registerDecimalInputFunction("set-search-for-landmarks-evo-speed",this,
    (double (Xabsl2FunctionProvider::*)())&HeadAndTailSymbols::setSearchForLandmarksEvoSpeed);
  engine.registerDecimalInputFunctionParameter("set-search-for-landmarks-evo-speed","set-search-for-landmarks-evo-speed.speed",searchForLandmarksEvoSpeed);


  // "tail-mode"
  engine.registerEnumeratedOutputSymbol("tail-mode",(int*)&motionRequest.tailRequest);
  for (i=0;i<TailRequest::numOfTailRequests;i++)
  {
    sprintf(s,"tail-mode.");
    getXmlString(s+strlen(s),TailRequest::getTailRequestIDName((TailRequest::TailRequestID)i));
    engine.registerEnumeratedOutputSymbolEnumElement("tail-mode",s,i);
  }
}

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