Modules/BehaviorControl/GT2005BehaviorControl/GT2005Symbols/OpenChallengeSymbols.h

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/** 
* @file OpenChallengeSymbols.h
*
* Declaration of class BallSymbols.
*
* @author 
*/

#ifndef __OpenChallengeSymbols_h_
#define __OpenChallengeSymbols_h_

#include "../../BehaviorControl.h"
#include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"


//typedef struct OC
//{
//  double type;
//  double x;
//  double y;
//  double rotation;
//} OC;

class OpenChallengeSymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
{
public:

  //enum OCStatus
  //{
  //  initial = 0,
  //  intro,
  //  goToBridge,
  //  goToBitePoint,
  //  allBitePointsReady,
  //  walkWithBridge,
  //  extro,
  //  finished
  //};

  //enum OCSetStatus
  //{
  //  setInitial = 0,
  //  setIntro,
  //  setGoToBridge,
  //  setGoToBitePoint,
  //  setMyBitePointIsReady,
  //  setLostMyBitePoint,
  //  setWalkWithBridge,
  //  setExtro,
  //  setFinished
  //};

/*
* Constructor.
* @param interfaces The parameters of the BehaviorControl module.
  */
  OpenChallengeSymbols(const BehaviorControlInterfaces& interfaces);
  
  /** registers the symbols at an engine */
  void registerSymbols(Xabsl2Engine& engine);

  /** updates the symbols */
  void update();

  //Symbols for blind- and guide-dog challenge 2005
  bool guideDogMoveForward();

  bool blindDogMoveForward();

  bool guideDogTellsBlindDogTurn();

  bool blindDogTurn();

  //!@name Input symbols
  //!@{
  //OCBridge::Side getLastSeenSide();    /*!< A function for the symbol "bridge.last-seen-side" */
  //double getSeenDistanceToBridge();    /*!< A function for the symbol "bridge.seen.distance" */
  //double getSeenAngleToBridge();       /*!< A function for the symbol "bridge.seen.angle" */
  //double getTimeSinceLastSeenBridge(); /*!< A function for the symbol "bridge.time-since-last-seen" */

  //BitePoint::Position getBitePointPosition(); /*!< A function for the symbol "bite-point.position" */
  //double getSeenDistanceToBitePoint();        /*!< A function for the symbol "bite-point.seen.distance" */
  //double getSeenAngleToBitePoint();           /*!< A function for the symbol "bite-point.seen.angle" */
  //double getPreciseShiftToBitePoint();        /*!< A function for the symbol "bite-point.precise-shift" */
  //double getTimeSinceLastSeenBitePoint();     /*!< A function for the symbol "bite-point.time-since-last-seen" */

  //double redLineInImageAngle();
  //double redLineAngle();
  //double getTimeSinceLastSeenRedLine();     /*!< A function for the symbol "bite-point.time-since-last-seen" */
  //double getSeenDistanceToRedLine();    /*!< A function for the symbol "bridge.seen.distance" */
  
  
  //!@}


  /** Varaible to hold the open challenge status */
  //OCStatus ocStatus;

  ///* A function for the output symbol "open-challenge.set-status". */
  //void setOCStatus(int aStatus);


//private:
  //OC m_walkRequest;
  //double m_headrot;

  //int bitePointToUse[Player::numOfPlayerNumbers];
  //bool bitePointReady[BitePoint::numOfPositions];
  //int masterDog;

};




#endif // OpenChallengeSymbols

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