Modules/MotionControl/MotionControlSelector.h

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/**
* @file MotionControlSelector.h
*
* Declaration of class MotionControlSelector
*
* @author Martin Lötzsch
*/

#ifndef __MotionControlSelector_h_
#define __MotionControlSelector_h_

#include "Tools/Module/ModuleSelector.h"
#include "GT2005MotionControl.h"
#include "DebugMotionControl.h"

/**
* @class MotionControlSelector
* 
* A module selector for motion control modules
*
* @author Martin Lötzsch
*/
class MotionControlSelector : public ModuleSelector, public MotionControlInterfaces
{
public:
/**
* Constructor.
* @param handler The module handler of the process.
* @param interfaces The paramters of the MotionControl module.
  */
  MotionControlSelector(ModuleHandler &handler, const MotionControlInterfaces& interfaces) 
    : ModuleSelector(SolutionRequest::motionControl),
    MotionControlInterfaces(interfaces),
    moduleHandler(handler)
  {
    handler.setModuleSelector(SolutionRequest::motionControl,this);
  }
  
  /** 
  * Is called on start and when the selected solution changes
  * to create a specific solution.
  * @param id The id of the solution to create
  * @return The created solution or 0
  */
  Module* createSolution(SolutionRequest::ModuleSolutionID id)
  {
    switch (id)
    {
    case SolutionRequest::gt2005MotionControl:
      return new GT2005MotionControl(moduleHandler,*this);
    case SolutionRequest::debugMotionControl:
      return new DebugMotionControl(*this);
    default:
      return 0;
    }
  }
  
  /** 
  * A reference to the ModuleHandler of the process, needed to create 
  * the submodules of DefaultMotionControl
  */
  ModuleHandler& moduleHandler;
};  

#endif //__MotionControlSelector_h_

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