GT2005: Tools/Module/SolutionRequest.h Source File

00001 /** 
00002 * @file SolutionRequest.h
00003 *
00004 * Declaration of class SolutionRequest
00005 *
00006 * @author Max Risler
00007 * @author Martin Lötzsch
00008 */
00009 
00010 #ifndef __SolutionRequest_h_
00011 #define __SolutionRequest_h_
00012 
00013 #include "Tools/Streams/InOut.h"
00014 
00015 /** maximum number of solutions per module */
00016 const int solutionRequestMaxNumOfSolutions = 40;
00017 
00018 /** Manages runtime exchangeable modules. */
00019 class SolutionRequest
00020 {
00021 public:
00022   /**
00023   * Enumerator for exchange modules
00024   * Add new exchangeable module here.
00025   * Create new selector module for new exchangeable modules
00026   */
00027   enum ModuleID
00028   {
00029     colorTableMod,
00030     sensorDataProcessor, /*!< See class SensorDataProcessorSelector */
00031     imageProcessor, /*!< See class ImageProcessorSelector */
00032     ballLocator, /*!< See class BallLocatorSelector */
00033     teamBallLocator, /*!< See class TeamBallLocatorSelector */
00034     obstaclesLocator, /*!< See class ObstaclesLocatorSelector */
00035     playersLocator, /*!< See class PlayersLocatorSelector */
00036     selfLocator, /*!< See class SelfLocatorSelector */
00037     robotStateDetector, /*!< See class RobotStateDetectorSelector */
00038     collisionDetector, /*!< See class CollisionDetectorSelector */
00039     behaviorControl, /*!< See class BehaviorControlSelector */
00040     motionControl, /*!< See class MotionControlSelector */
00041     walkingEngineNormal, /*!< See class WalkingEngineNormalSelector */
00042     headControl, /*!< See class HeadControlSelector */
00043     ledControl, /*!< See class LEDControlSelector */
00044     getupEngine, /*!< See class GetupEngineSelector */
00045     soundControl, /*!< See class SoundControlSelector */
00046     sensorBehaviorControl, /*!< See class SensorBehaviorControlSelector */
00047     gtCam,  /*!< See class GTCamSelector */
00048     numOfModules /*!< Number of exchangeable modules */
00049   };
00050 
00051   /** enumerator for available solutions for all exchangeable modules
00052   * \attention add new solutions here
00053   * \attention dont forget to edit selector module too
00054   */
00055   enum ModuleSolutionID
00056   {
00057     disabled = -1,
00058 
00059     // ColorTableMod solutions
00060     colorTable64Mod = 0,
00061     colorTable32KMod,
00062     numOfColorTableModSolutions, 
00063 
00064     // SelfLocator solutions
00065     gt2005SelfLocator = 0,
00066     gt2005StableSelfLocator,
00067     gt2004SelfLocator,
00068     gtCamSelfLocator,
00069     odometrySelfLocator,
00070     slamSelfLocator,
00071     comboSelfLocator,
00072     numOfSelfLocatorSolutions,
00073 
00074     // ImageProcessor solutions
00075     gt2005ImageProcessor = 0,
00076     slamImageProcessor,
00077     vlcImageProcessor,
00078     numOfImageProcessorSolutions,
00079 
00080     // BehaviorControl solutions
00081     gt2005BehaviorControlAgentSoccer = 0,
00082     gt2005BehaviorControlAgentPenaltyShooter,
00083     gt2005BehaviorControlAgentPenaltyShooter2,
00084     gt2005BehaviorControlAgentPenaltyGoalie,
00085     gt2005BehaviorControlAgentJoystickControlled,
00086     gt2005BehaviorControlAgentSlamChallange,
00087     gt2005BehaviorControlAgentVLCshooter,
00088     gt2005BehaviorControlAgentVLC2shooter,
00089     gt2005BehaviorControlAgentObstacleAvoidanceChallange03,
00090     gt2005BehaviorControlAgentOdometryTester,
00091     gt2005BehaviorControlAgentGuideDog,
00092     gt2005BehaviorControlAgentBlindDog,
00093     gt2005BehaviorControlAgentKickLogger,
00094     gt2005BehaviorControlAgentBasicsTester,
00095     numOfBehaviorControlSolutions,
00096 
00097     // CollisionDetector solutions
00098     gt2005CollisionDetector = 0,
00099     numOfCollisionDetectorSolutions,
00100 
00101     // WalkingEngine solutions
00102     gt2005WalkingEngine = 0,
00103     gt2004WalkingEngine,
00104     invKinUpsideDownWalkingEngine,
00105     invKinTurnWithBallWalkingEngine,
00106     invKinTurnKickWalkingEngine,
00107     numOfWalkingEngineSolutions,
00108 
00109     // BallLocator solutions
00110     gt2005BallLocator = 0,
00111     gtCamBallLocator,
00112     numOfBallLocatorSolutions,
00113 
00114     // TeamBallLocator solutions 
00115     gt2005TeamBallLocator = 0,
00116     numOfTeamBallLocatorSolutions,
00117 
00118     // PlayersLocator solutions
00119     gtCamPlayersLocator,
00120     numOfPlayersLocatorSolutions,
00121 
00122     // ObstaclesLocator solutions
00123     gt2005ObstaclesLocator = 0,
00124     gtCamObstaclesLocator,
00125     numOfObstaclesLocatorSolutions,
00126 
00127     // HeadControl solutions
00128     gt2005HeadControl = 0,
00129     numOfHeadControlSolutions,
00130 
00131     // LEDControl solutions
00132     gt2005LEDControl = 0,
00133     numOfLEDControlSolutions,
00134 
00135     // SensorDataProcessor solutions
00136     gt2005SensorDataProcessor = 0,
00137     numOfSensorDataProcessorSolutions,
00138 
00139     // RobotStateDetector solutions
00140     gt2005RobotStateDetector = 0,
00141     numOfRobotStateDetectorSolutions,
00142 
00143     // SensorBehaviorControl solutions
00144     dummySensorBehaviorControl = 0, // this is only a dummy, remove it when adding a real solution
00145     numOfSensorBehaviorControlSolutions,
00146 
00147     // MotionControl solutions
00148     gt2005MotionControl = 0,
00149     debugMotionControl,
00150     numOfMotionControlSolutions,
00151 
00152     // GetupEngine solutions
00153     gt2005GetupEngine = 0,
00154     numOfGetupEngineSolutions,
00155 
00156     // SoundOutControl solutions
00157     gt2005SoundControl = 0,
00158     numOfSoundControlSolutions,
00159 
00160     // GTCam solutions
00161     gtCamRaw = 0,
00162     numOfGTCamSolutions
00163   };
00164 
00165   /** returns names for module ids
00166   * Add new exchangeable module here
00167   */
00168   static const char* getModuleName(ModuleID id)
00169   {
00170     switch (id)
00171     {
00172     case colorTableMod: return "ColorTableModule";
00173     case imageProcessor: return "ImageProcessor";
00174     case selfLocator: return "SelfLocator";
00175     case behaviorControl: return "BehaviorControl";
00176     case collisionDetector: return "CollisionDetector";
00177     case walkingEngineNormal: return "WalkingEngine:normal";
00178     case headControl: return "HeadControl";
00179     case ledControl: return "LEDControl";
00180     case ballLocator: return "BallLocator";
00181     case playersLocator: return "PlayersLocator";
00182     case obstaclesLocator: return "ObstaclesLocator";
00183     case sensorDataProcessor: return "SensorDataProcessor";
00184     case robotStateDetector: return "RobotStateDetector";
00185     case sensorBehaviorControl: return "SensorBehaviorControl";
00186     case motionControl: return "MotionControl";
00187     case getupEngine: return "GetupEngine";
00188     case soundControl: return "SoundControl";
00189     case teamBallLocator: return "TeamBallLocator";
00190     case gtCam: return "GTCam";
00191 
00192     default: return "please edit SolutionRequest::getModuleName";
00193     }
00194   }
00195 
00196   /** returns categories for module ids
00197   * Add new exchangeable module here
00198   */
00199   static const char* getModuleCategoryName(ModuleID id)
00200   {
00201     switch (id)
00202     {
00203     case colorTableMod: return "Perception";
00204     case imageProcessor: return "Perception";
00205     case selfLocator: return "Modeling";
00206     case behaviorControl: return "Behavior";
00207     case collisionDetector: return "Perception";
00208     case walkingEngineNormal: return "Actorics";
00209     case headControl: return "Actorics";
00210     case ledControl: return "Output";
00211     case ballLocator: return "Modeling";
00212     case playersLocator: return "Modeling";
00213     case obstaclesLocator: return "Modeling";
00214     case sensorDataProcessor: return "Perception";
00215     case robotStateDetector: return "Modeling";
00216     case sensorBehaviorControl: return "";
00217     case motionControl: return "Actorics";
00218     case getupEngine: return "Actorics";
00219     case soundControl: return "Output";
00220     case teamBallLocator: return "Modeling";
00221     case gtCam: return "";
00222 
00223     default: return "please edit SolutionRequest::getModuleName";
00224     }
00225   }
00226 
00227 
00228   /** Returns number of solutions in module id
00229   * \attention add new exchangeable module here
00230   */
00231   static int getNumOfSolutions(ModuleID id)
00232   {
00233     switch (id)
00234     {
00235     case colorTableMod :return numOfColorTableModSolutions;
00236     case imageProcessor: return numOfImageProcessorSolutions;
00237     case selfLocator: return numOfSelfLocatorSolutions;
00238     case behaviorControl: return numOfBehaviorControlSolutions;
00239     case collisionDetector: return numOfCollisionDetectorSolutions;
00240     case walkingEngineNormal: return numOfWalkingEngineSolutions;
00241     case headControl: return numOfHeadControlSolutions;
00242     case ledControl: return numOfLEDControlSolutions;
00243     case ballLocator: return numOfBallLocatorSolutions;
00244     case playersLocator: return numOfPlayersLocatorSolutions;
00245     case obstaclesLocator: return numOfObstaclesLocatorSolutions;
00246     case sensorDataProcessor: return numOfSensorDataProcessorSolutions;
00247     case robotStateDetector: return numOfRobotStateDetectorSolutions;
00248     case sensorBehaviorControl: return numOfSensorBehaviorControlSolutions;
00249     case motionControl: return numOfMotionControlSolutions;
00250     case getupEngine: return numOfGetupEngineSolutions;
00251     case soundControl: return numOfSoundControlSolutions;
00252     case teamBallLocator: return numOfTeamBallLocatorSolutions;
00253     case gtCam: return numOfGTCamSolutions;
00254 
00255     default: return 0;
00256     }
00257   }
00258 
00259   /**
00260   * Returns names for module solution ids.
00261   * Add new solutions here.
00262   */
00263   static const char* getModuleSolutionName(ModuleID module, ModuleSolutionID solution)
00264   {
00265     if (solution == disabled) return "disabled";
00266     switch (module)
00267     {
00268     case colorTableMod: switch (solution)
00269                         {
00270     case colorTable64Mod: return "ColorTable64Module";
00271     case colorTable32KMod: return "ColorTable32KModule";
00272                         }
00273     case selfLocator: switch (solution)
00274                       {
00275     case gt2005SelfLocator: return "GT2005";
00276     case gt2005StableSelfLocator: return "GT2005Stable";
00277     case gtCamSelfLocator: return "GTCam";
00278     case odometrySelfLocator: return "Odometry";
00279     case slamSelfLocator: return "Slam";
00280     case gt2004SelfLocator: return "GT2004";
00281     case comboSelfLocator: return "Combo";
00282                       }
00283     case behaviorControl: switch (solution)
00284                           {
00285     case gt2005BehaviorControlAgentSoccer: return "GT2005-soccer";
00286     case gt2005BehaviorControlAgentPenaltyShooter: return "GT2005-penalty-shooter";
00287     case gt2005BehaviorControlAgentPenaltyShooter2: return "GT2005-penalty-shooter2";
00288     case gt2005BehaviorControlAgentPenaltyGoalie: return "GT2005-penalty-goalie";
00289     case gt2005BehaviorControlAgentJoystickControlled: return "GT2005-joystick-controlled";
00290     case gt2005BehaviorControlAgentSlamChallange: return "GT2005-Slam-Behavior";
00291     case gt2005BehaviorControlAgentVLCshooter: return "GT2005-VLC-shooter";
00292     case gt2005BehaviorControlAgentVLC2shooter: return "GT2005-VLC2-shooter";
00293     case gt2005BehaviorControlAgentObstacleAvoidanceChallange03: return "GT2005-Obstacle-Avoider";
00294     case gt2005BehaviorControlAgentOdometryTester: return "GT2005-Odometry-Tester";
00295     case gt2005BehaviorControlAgentKickLogger: return "GT2005-KickLogger";
00296     case gt2005BehaviorControlAgentBasicsTester: return "GT2005-basics-tester";
00297                           }
00298     case collisionDetector: switch (solution)
00299                             {
00300     case gt2005CollisionDetector: return "GT2005";
00301                             }
00302     case walkingEngineNormal: switch (solution) 
00303                               {
00304     case gt2005WalkingEngine: return "GT2005";
00305     case gt2004WalkingEngine: return "GT2004";
00306     case invKinUpsideDownWalkingEngine: return "InvKin:UpsideDown";
00307     case invKinTurnWithBallWalkingEngine: return "InvKin:TurnWithBall";
00308     case invKinTurnKickWalkingEngine: return "InvKin:invTurnKick";
00309                               }
00310     case headControl: switch (solution)
00311                       {
00312     case gt2005HeadControl: return "GT2005";
00313                       }
00314     case ledControl: switch (solution)
00315                      {
00316     case gt2005LEDControl: return "GT2005";
00317                      }
00318     case ballLocator: switch (solution)
00319                       {
00320     case gt2005BallLocator: return "GT2005";
00321     case gtCamBallLocator: return "GTCam";
00322                       }
00323     case playersLocator: switch (solution)
00324                          {
00325     case gtCamPlayersLocator: return "GTCam";
00326                          }
00327     case obstaclesLocator: switch (solution)
00328                            {
00329     case gt2005ObstaclesLocator: return "GT2005";
00330     case gtCamObstaclesLocator: return "GTCam";
00331                            }
00332     case imageProcessor: switch (solution)
00333                          {
00334     case gt2005ImageProcessor: return "GT2005";
00335     case slamImageProcessor: return "SlamImageProcessor";
00336     case vlcImageProcessor: return "VLCImageProcessor";
00337                          }
00338     case sensorDataProcessor: switch(solution)
00339                               {
00340     case gt2005SensorDataProcessor: return "GT2005";
00341                               }
00342     case robotStateDetector: switch (solution)
00343                              {
00344     case gt2005RobotStateDetector: return "GT2005";
00345                              }
00346     case sensorBehaviorControl: switch (solution)
00347                                 {
00348     case dummySensorBehaviorControl: return "Dummy";
00349                                 }    
00350     case motionControl: switch (solution)
00351                         {
00352     case gt2005MotionControl: return "GT2005";
00353     case debugMotionControl: return "Debug";
00354                         }
00355     case getupEngine: switch (solution)
00356                       {
00357     case gt2005GetupEngine: return "GT2005";
00358                       }
00359     case soundControl: switch (solution)
00360                        {
00361     case gt2005SoundControl: return "GT2005";
00362                        }
00363     case teamBallLocator: switch(solution)
00364                           {
00365     case gt2005TeamBallLocator: return "GT2005";
00366                           }
00367     case gtCam: switch(solution) {
00368     case gtCamRaw: return "Raw";
00369                 }
00370 
00371     }
00372     return "please edit SolutionRequest::getModuleSolutionName";
00373   }
00374 
00375   /** an array containing the selected solution for each module */
00376   ModuleSolutionID solutions[numOfModules];
00377 
00378   /** Constructor
00379   * @param setDefault if true default modules will be selected else all modules are disabled
00380   */
00381   SolutionRequest(bool setDefault = false);
00382 
00383   /**
00384   * Returns default solution for module.
00385   */
00386   static ModuleSolutionID getDefaultSolution(ModuleID id)
00387   {
00388     static SolutionRequest defaultRequest(true);
00389     return defaultRequest.solutions[id];
00390   }
00391 
00392   /**
00393   * Sets all modules to default solutions.
00394   */
00395   void setDefaultSolutions();
00396 
00397   /** the == operator */
00398   bool operator == (const SolutionRequest& other);
00399 
00400   /** the == operator */
00401   bool operator != (const SolutionRequest& other)
00402   { return ! (*this == other); }
00403 
00404   /**
00405   * ErrorWhileReading
00406   * is set to true when an error occurred while reading the SolutionRequest
00407   * eg when an module was missing or a solution was not recognized
00408   */
00409   bool errorWhileReading;
00410 
00411   /** IDs for the module solutions using a Xabsl2Engine */
00412   enum xabsl2EngineID
00413   {
00414     gt2005, 
00415     numOfXabslBehaviors,
00416     hc_gt2005 = numOfXabslBehaviors, 
00417     undefined
00418   };
00419 
00420   /** returns the name of a xabsl2EngineID */
00421   static const char* getXabsl2EngineIDName(xabsl2EngineID id)
00422   {
00423     switch (id)
00424     {
00425     case gt2005: return "GT2005";
00426     case hc_gt2005: return "HC_GT2005";
00427     default: return "unknown";
00428     }
00429   }
00430 
00431   /** returns the beginning of the file name of a config file
00432   * for a xabsl2Engine
00433   */
00434   static const char* getXabsl2EngineFileID(xabsl2EngineID id)
00435   {
00436     switch (id)
00437     {
00438     case gt2005: return "gt05";
00439     case hc_gt2005: return "HeadCtrl/gt05";
00440     default: return "unknown";
00441     }
00442   }
00443 };
00444 
00445 /**
00446 * Streaming operator that reads a SolutionRequest from a stream.
00447 * @param stream The stream from which is read.
00448 * @param solutionRequest The SolutionRequest object.
00449 * @return The stream.
00450 */
00451 In& operator>>(In& stream,SolutionRequest& solutionRequest);
00452 
00453 /**
00454 * Streaming operator that writes a SolutionRequest to a stream.
00455 * @param stream The stream to write on.
00456 * @param solutionRequest The SolutionRequest object.
00457 * @return The stream.
00458 */
00459 Out& operator<<(Out& stream, const SolutionRequest& solutionRequest);
00460 
00461 #endif //__SolutionRequest_h_
00462