Modules/BehaviorControl/CommonXabsl2Symbols/RobotStateSymbols.h

Go to the documentation of this file.

/** 
* @file RobotStateSymbols.h
*
* Declaration of class RobotStateSymbols.
*
* @author Matthias Jüngel
*/

#ifndef __RobotStateSymbols_h_
#define __RobotStateSymbols_h_

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

/**
* The Xabsl2 symbols that are defined in "robot-state-symbols.xml"
*
* @author Matthias Jüngel
*/ 
class RobotStateSymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the BehaviorControl module.
  */
  RobotStateSymbols(const BehaviorControlInterfaces& interfaces);
  
  /** registers the symbols at an engine */
  void registerSymbols(Xabsl2Engine& engine);
  
    /** updates the symbols */
  void update();

  enum DisplayWLANStatus {
    wlanHide = 0,
    wlanShow
  };

  DisplayWLANStatus WLANSignalStrenghShownByFaceLEDs;
  //!@name Input symbols
  //!@{
  bool getAnyBackButtonPressedForOneSecond();
  bool getAnyBackButtonPressedShortAndReleased();
  bool getForeBackButtonPressedShortAndReleased();
  bool getMiddleBackButtonPressedShortAndReleased();
  bool getHindBackButtonPressedShortAndReleased();
  bool getForeBackButtonPressedShort();
  bool getMiddleBackButtonPressedShort();
  bool getHindBackButtonPressedShort();
  bool getHeadButtonPressedForThreeSeconds();
  bool getHeadButtonPressedShortAndReleased();
  bool getHeadButtonPressedShort();
  bool getChinButtonPressedForThreeSeconds();
  int getMouthState();  /*!< A function for the symbol "self.mouth-state" */
  bool getBallUnderHead(); /*!< A function for the symbol "self.ball-under-head" */
  bool getSomethingInFrontOfChest(); /*!< A function for the symbol "robot-state.something-in-front-of-chest" */
  double getTimeSinceSomethingWasInFrontOfChest(); /*!< A function for the symbol "robot-state.time-since-something-was-in-front-of-chest" */
  double getDistanceToSIFOC(); /*!< A function for the symbol "robot-state.distance-to-sifoc" */
  double getSwitchesPressedTime(); /*!< A function for the symbol "self.switches.pressed-time" */
  double getCurrentSystemTime(); /*!< A function for the symbol "robot-state.system-time" */
  double getRemainingCapacity(); /*!< A function for the symbol "robot-state.remaining-capacity" */
  //!@}
  bool getConnectedToWLAN();    
  //!@}
  double getWLANLink();
  double getWLANSignal();
  double getWLANNoise();

  double getFilteredWLANLink();
  double getFilteredWLANSignal();
  double getFilteredWLANNoise();

  double filteredWLANLink;
  double filteredWLANSignal;
  double filteredWLANNoise;
};


#endif // __RobotStateSymbols_h_

---