WaypointWalkNode.h

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//-*-c++-*-
#ifndef INCLUDED_WaypointWalkNode_h_
#define INCLUDED_WaypointWalkNode_h_

#include "MCNode.h"
#include "Motion/MotionManager.h"
#define WALKMC_NO_WARN_NOOP
#include "Motion/WaypointWalkMC.h"
#undef WALKMC_NO_WARN_NOOP
#include "Events/EventRouter.h"
#include "Events/LocomotionEvent.h"

//!default name for WaypointEngineNode's (have to instantiate a variable in order to use as a template argument)
/*! instantiation will be placed in MCNode.cc to avoid file bloat */
extern const char defWaypointWalkNodeName[];
//!default description for WaypointWalkNode's (have to instantiate a variable in order to use as a template argument)
/*! instantiation will be placed in MCNode.cc to avoid file bloat */
extern const char defWaypointWalkNodeDesc[];

//! A StateNode for doing a waypoint walk, use the template parameter to specify a custom walk MC, or use the ::WaypointWalkNode typedef to accept the "default" walk
template<typename W, const char* mcName=defWaypointWalkNodeName, const char* mcDesc=defWaypointWalkNodeDesc>
class WaypointEngineNode : public MCNode<W,mcName,mcDesc> {
public:
  
  //! constructor
  WaypointEngineNode() : MCNode<W,mcName,mcDesc>() {}
  
  //! constructor
  WaypointEngineNode(const std::string& name) : MCNode<W,mcName,mcDesc>(name) {}
  
  //!destructor
  ~WaypointEngineNode() {}
  
  virtual void postStart() {
    // std::cout << "WaypointwalkNode id=" << MCNode<W,mcName,mcDesc>::getMC_ID() << "="
    //           << MCNode<W,mcName,mcDesc>::getMC()->getID() << " start" << std::endl;
    MCNode<W,mcName,mcDesc>::postStart();
    if ( MCNode<W,mcName,mcDesc>::isActive() ) {
      erouter->addListener(this, EventBase::locomotionEGID, MCNode<W,mcName,mcDesc>::getMC_ID(), EventBase::statusETID);
      MCNode<W,mcName,mcDesc>::getMC()->go();
    }
  }
  
  virtual void stop() {
    { MMAccessor<W> wp_walker = MCNode<W,mcName,mcDesc>::getMC();
      wp_walker->pause(); // prevent cycle() from running and setting the velocity again
      wp_walker->zeroVelocities();
    }
    // std::cout << "WaypointwalkNode id=" << MCNode<W,mcName,mcDesc>::getMC_ID() << "="
    //           << MCNode<W,mcName,mcDesc>::getMC()->getID() << " stop" << std::endl;
    MCNode<W,mcName,mcDesc>::stop();
  }

protected:
  //! constructor
  WaypointEngineNode(const std::string& className, const std::string& instanceName) : 
  MCNode<W,mcName,mcDesc>(className,instanceName) {}
  
  void doEvent() {
    if ( static_cast<const LocomotionEvent&>(*this->event).isStop() )
      MCNode<W,mcName,mcDesc>::postStateCompletion();
  }
  
};

//! the prototypical WaypointWalkNode, using a WaypointWalkMC
typedef WaypointEngineNode<WaypointWalkMC> WaypointWalkNode;

/*! @file
 * @brief Describes WaypointEngineNode,  a StateNode for doing a waypoint walk; use the template parameter to specify a custom waypoint walk MC, or use the WaypointWalkNode typedef to accept the "default" walk
 * @author dst (Creator)
 */

#endif