Modules/BehaviorControl/GT2005BehaviorControl/GT2005Symbols/KickLoggerSymbols.h

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/** 
* @file KickLoggerSymbols.h
*
* Declaration of class KickLoggerSymbols
*
* @author Carsten Schumann
*/

#ifndef __KickLoggerSymbols_h_
#define __KickLoggerSymbols_h_

#include "../../BehaviorControl.h"
#include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"
#include "Tools/Streams/InStreams.h"
#include "Tools/Streams/OutStreams.h"
#include "../GT2005KickLogger/GT2005KickLogger.h"

/**
* The Xabsl2 symbols that are defined in "kick-logger-symbols.xml"
*
* @author Carsten Schumann
*/ 
class KickLoggerSymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
{
public:
  /*
  * Constructor.
  * @param interfaces The paramters of the BehaviorControl module.
  */
  KickLoggerSymbols(BehaviorControlInterfaces& interfaces);
  
  /** registers the symbols at an engine */
  void registerSymbols(Xabsl2Engine& engine);
  
  /** updates the symbols */
  void update();
private:
  GT2005KickLogger kickLogger;

  GT2005KickRecord currentRecord;

/*  RobotPose robotBefore;
  Vector2<double> ballBefore;
  Vector3<int> speedWhenExecuted;
  double rotationWhenExceuted;
  Vector2<int> relativePositionWhenExecuted;
*/
  double walktoRotation;
  Vector2<double> executeTarget;
  Vector2<double> walktoTarget;
  bool walktoTargetGenerated;

  Vector2<int> getBallPosition();

  
  Vector2<double> lastCeilCamBallPosition;
  long lastCeilCamBallPositionTime;

  bool kickLoggerSave();
  bool kickLoggerSetBeforeState();
  bool kickLoggerSetExecuteState();
  bool kickLoggerSetAfterStateAndCommit();
  double getWalktoTargetX();
  double getWalktoTargetY();
  double getWalktoTargetR();
  void generateWalktoTarget();
  bool doExecute();
  bool isNear();
  double getTriggerX();
  bool ballHasStopped();
  double getKick();
  double getPropagatedRelativeX();
  bool ballOutsideArea();

  //Used to determine that the ceiling camera is not sending data any more
  Vector2<double> lastCeilCamData;
  int lastCeilCamDataCount;
  bool ceilCamActive();
  int executeCounter;

};

#endif // __KickLoggerSymbols_h_

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