DynamicMotionSequence.h

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

#include "MotionSequenceEngine.h"
#include "MotionCommand.h"
#include "MotionManager.h"
#include "Events/EventBase.h"
#include <vector>

//! Uses STL's vector for dynamic memory allocation - don't use this as a motion command, pointers in shared memory regions can be invalid in other processes
/*! See MotionSequenceEngine for documentation on its members */
class DynamicMotionSequence : public MotionCommand, public MotionSequenceEngine {
public:

  //!constructor
  DynamicMotionSequence() : MotionCommand(), MotionSequenceEngine(), moves(), erased(), lastDirty(false) { clear(); }

  //!constructor, loads from a file and then resets the playtime to beginning and begins to play
  explicit DynamicMotionSequence(const char* filename) : MotionCommand(), MotionSequenceEngine(), moves(), erased(), lastDirty(false) {
    clear();
    loadFile(filename);
    setTime(1);
  }

  //!destructor
  virtual ~DynamicMotionSequence() {}

  // I put this here because i want direct access to moves so it'll be faster
/*  void planJointCmds(unsigned int i, JointCmd frames[NumFrames]) {
    Move_idx_t prev=prevs[i],next=nexts[i];
    frames[0]=getJointCmd(i);
    for(unsigned int t=playtime+FrameTime,j=1;j<NumFrames;j++,t+=FrameTime) {
      setRange(t,prev,next);
      if(next!=invalid_move)
        calcJoint(frames[j],t,moves[prev],moves[next]);
      else
        frames[j]=unusedJoint;
    }
  }*/
  

  virtual int isDirty() { return isPlaying(); }
  virtual int isAlive() { return (playspeed>0) ? (playtime<=endtime) : (playtime>0); }
  
  virtual int updateOutputs() {
    MotionSequenceEngine::updateOutputs();
    if(!isPlaying()) {
      if(lastDirty)
        postEvent(EventBase(EventBase::motmanEGID,getID(),EventBase::statusETID));
      lastDirty=false;
      for(unsigned int i=0; i<NumOutputs; i++) //just copies getOutputCmd(i) across frames
        motman->setOutput(this,i,getOutputCmd(i));
    } else {
      lastDirty=true;
      for(unsigned int i=0; i<NumOutputs; i++) { //fill out the buffer of commands for smoother movement
        Move_idx_t prev=prevs[i],next=nexts[i];
        OutputCmd frames[NumFrames];
        frames[0]=getOutputCmd(i);
        for(unsigned int t=playtime+FrameTime,j=1;j<NumFrames;j++,t+=FrameTime) {
          setRange(t,prev,next);
          if(next!=invalid_move)
            calcOutput(frames[j],t,moves[prev],moves[next]);
          else
            frames[j].unset();
        }
        motman->setOutput(this,i,frames);
      }
    }
    return NumOutputs;
    //    if(i<NumLegJointss)
    //      log.push_back(logent(get_time(),playtime,i,frames));
  }
  
  virtual void clear() {
    moves.clear();
    erased.clear();
    for(unsigned int i=0; i<NumOutputs; i++) {
      moves.push_back(Move());
      moves.back().cmd.unset();
      moves.back().next=invalid_move;
      moves.back().prev=invalid_move;
      prevs[i]=starts[i]=moves.size()-1;
      nexts[i]=invalid_move;
    }
    setTime(1);
  }
  virtual unsigned int getMaxFrames() const { return -1U; }
  virtual unsigned int getUsedFrames() const { return moves.size()-erased.size(); }

protected:
  // TYPES:
  typedef std::vector<Move> list_t; //!< shorthand for the ListMemBuf that stores all of the movement frames

  // MEMBERS:
  list_t moves;                     //!< stores all of the movement keyframes
  std::vector<Move_idx_t> erased;   //!< recycles erased keyframes, can't just shift elements in #moves, it would throw off index numbers in Move structures
  bool lastDirty; //!< true if last updateOutputs was dirty, so we know when to post status event

  virtual Move& getKeyFrame(Move_idx_t x) { return moves[x]; } //!< returns #moves[@a x]
  virtual const Move& getKeyFrame(Move_idx_t x) const { return moves[x]; } //!< returns #moves[@a x]
  virtual Move_idx_t newKeyFrame() {
    if(erased.empty()) {
      moves.push_back(Move());
      return moves.size()-1;
    } else { //recycle from used list
      Move_idx_t x=erased.back();
      erased.pop_back();
      return x;
    }
  }
  //! marks keyframe @a x unused
  virtual void eraseKeyFrame(Move_idx_t x) { erased.push_back(x); }
  //! advances (or rewinds) @a prev and @a next so that @a t falls between them
  bool setRange(unsigned int t,Move_idx_t& prev, Move_idx_t& next) const {
    bool moved=false;
    if(next!=invalid_move && moves[next].starttime<=t) {
      moved=true;
      do {
        prev=next;
        next=moves[prev].next;
      } while(next!=invalid_move && moves[next].starttime<=t);
    } else {
      while(moves[prev].prev!=invalid_move && t<moves[prev].starttime) {
        next=prev;
        prev=moves[next].prev;
        moved=true;
      }
    }
    return moved;
  }
};

/*! @file
 * @brief Uses STL's vector for dynamic memory allocation - don't use this as a motion command, pointers in shared memory regions can be invalid in other processes
 * @author ejt (Creator)
 */

#endif