Tools/RobotConfiguration.h

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/**
* @file RobotConfiguration.h
*
* Definition of class RobotConfiguration
* 
* @author Thomas Röfer
*/
#ifndef __RobotConfiguration_h_
#define __RobotConfiguration_h_

#include "Tools/MessageQueue/InMessage.h"
#include "Platform/SystemCall.h"
#include "Tools/Actorics/RobotDimensions.h"

class RobotConfiguration;

/**
* Returns a reference to a process wide RobotConfiguration configuration.
*/
RobotConfiguration& getRobotConfiguration();

/**
* Sets the robot configuration of this process.
* @param configuration The configuration of this process.
*/
void setRobotConfiguration(RobotConfiguration* configuration);

/** 
* @class RobotCalibration
*
* A class that represents the calibration of the robot. 
*
* @author Thomas Röfer
*/
class RobotCalibration
{
public:
  /** the offset between the bodyTilt as delivered by the walking engine and the
  * real bodyTilt of a particular robot. */
  double bodyTiltOffset;

  /** the offset between the bodyRoll as delivered by the walking engine and the
  * real bodyRoll of a particular robot. */
  double bodyRollOffset;

  /** the offset between the headTilt2 as delivered by the walking engine and the
  * real headRoll of a particular robot. */
  double headTiltOffset;

  /** the offset between the headRoll as delivered by the walking engine and the
  * real headRoll of a particular robot. */
  double headRollOffset;

  /** a factor the measurements of the tilt joint are scaled with. */
  double tiltFactor;

  /** a factor the measurements of the pan joint are scaled with. */
  double panFactor;

  /** a factor the measurements of the tilt2 joint are scaled with. */
  double tilt2Factor;

  RobotCalibration()
  {
    bodyTiltOffset = bodyRollOffset = headTiltOffset = headRollOffset = 0;
    tiltFactor = panFactor = tilt2Factor = 1;
  }
};

/** 
* @class RobotConfiguration
*
* A class that represents the configuration of the robot. 
*
* @author Thomas Röfer
*/
class RobotConfiguration : public RobotDesign
{
public:
  /**
  * Constructor.
  */
  RobotConfiguration();

  /**
  * Loads the data from robot.cfg 
  */
  void load();

  /** returns the calibration values of the robot */
  const RobotCalibration& getRobotCalibration() const {return robotCalibration;}

  /** sets the calibration values of the robot */
  void setRobotCalibration(const RobotCalibration& r) {robotCalibration = r;}

  /** returns the mac address of the robot*/
  const char* getMacAddressString() const {return macAddressString;}

  /** returns the design of the robot*/
  Design getRobotDesign() const {return robotDesign;}

  /** returns the dimensions of the robot*/
  const RobotDimensions& getRobotDimensions() const {return robotDimensions;}

  /** updates the robot configuration based on message queue data. */
  bool handleMessage(InMessage& message);

private:
  RobotCalibration robotCalibration; /**< The calibration values of the robot. */
  char macAddressString[13]; /**< The MAC address of the robot. */
  Design robotDesign; /**< The design of the robot. */
  RobotDimensions robotDimensions; /**< The dimensions of the robot. */
};

/**
 * Streaming operator that reads a RobotConfiguration from a stream.
 * @param stream The stream from which is read.
 * @param robotConfiguration The RobotConfiguration object.
 * @return The stream.
 */ 
In& operator>>(In& stream,RobotConfiguration& robotConfiguration);
 
/**
 * Streaming operator that writes a RobotConfiguration to a stream.
 * @param stream The stream to write on.
 * @param robotConfiguration The RobotConfiguration object.
 * @return The stream.
 */ 
Out& operator<<(Out& stream, const RobotConfiguration& robotConfiguration);


#endif //__RobotConfiguration_h_

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