MotionSequenceNode.h

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

#include "MCNode.h"
#include "Motion/MotionManager.h"
#include "Motion/MotionSequenceMC.h"
#include "Shared/debuget.h"
#include "Shared/MarkScope.h"

//!default name for PostureNode'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 defMotionSequenceNodeName[];
//!default description for PostureNode'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 defMotionSequenceNodeDesc[];

//! A StateNode for playing a MotionSequence (and looping it if desired)
/*! Eventually, i'd like to just build the looping functionality into
 *  MotionSequence, but in the mean time we have this. */
template<unsigned int SIZE>
class MotionSequenceNode : public  MCNode<MotionSequenceMC<SIZE>,defMotionSequenceNodeName,defMotionSequenceNodeDesc,true>  {
public:
  //!constructor
  MotionSequenceNode()
    : MCNode<MotionSequenceMC<SIZE>,defMotionSequenceNodeName,defMotionSequenceNodeDesc,true>(),
      looping(false), filename() {}

  //!constructor
  MotionSequenceNode(const std::string& name, const std::string& file="", bool loop=false)
    : MCNode<MotionSequenceMC<SIZE>,defMotionSequenceNodeName,defMotionSequenceNodeDesc,true>(name),
      looping(loop), filename(file) {}

  virtual void preStart() {
    MCNode<MotionSequenceMC<SIZE>,defMotionSequenceNodeName,defMotionSequenceNodeDesc,true>::preStart();
    if(const DataEvent<std::string>* ev = dynamic_cast<const DataEvent<std::string>*>(this->event))
      filename = ev->getData();
    update(filename);
  }
  
  virtual void postStart() {
    MCNode<MotionSequenceMC<SIZE>,defMotionSequenceNodeName,defMotionSequenceNodeDesc,true>::postStart();
    MCNode<MotionSequenceMC<SIZE>,defMotionSequenceNodeName,defMotionSequenceNodeDesc,true>::getMC()->play();
  }

  //! sets the file to play
  virtual void setFile(const std::string& file) {
    if ( StateNode::isActive() )
      update(file);
    else
      filename=file;
  }

  //! turns looping on or off
  virtual void setLooping(bool loop) { looping=loop; }

  virtual void doEvent() {
    ASSERTRET(this->event->getGeneratorID()==EventBase::motmanEGID,"Unknown event");
    if ( this->event->getSourceID() == MCNodeBase::getMC_ID() ) {
      if(looping)
        MCNode<MotionSequenceMC<SIZE>,defMotionSequenceNodeName,defMotionSequenceNodeDesc,true>::getMC()->setTime(1);
      StateNode::postStateCompletion();
    }
  }

  //! returns true if currently looping
  virtual bool getLooping() { return looping; }

protected:

  //! resets the motion command and starts it playing
  void update(const std::string& file) {
    if ( file.size() > 0 ) {
      filename=file;
      MMAccessor<MotionSequenceMC<SIZE> > mma = MCNode<MotionSequenceMC<SIZE>,defMotionSequenceNodeName,defMotionSequenceNodeDesc,true>::getMC();
      mma->clear();
      mma->loadFile(filename.c_str());
      mma->setTime(1);
    }
  }

  bool looping; //!< true if we should loop
  std::string filename; //!< filename of current motion sequence
};

typedef MotionSequenceNode<TinyMotionSequenceMC::CAPACITY> TinyMotionSequenceNode; //!< streamlined access to the standard template sizes
typedef MotionSequenceNode<SmallMotionSequenceMC::CAPACITY> SmallMotionSequenceNode; //!< streamlined access to the standard template sizes
typedef MotionSequenceNode<MediumMotionSequenceMC::CAPACITY> MediumMotionSequenceNode; //!< streamlined access to the standard template sizes
typedef MotionSequenceNode<LargeMotionSequenceMC::CAPACITY> LargeMotionSequenceNode; //!< streamlined access to the standard template sizes
typedef MotionSequenceNode<XLargeMotionSequenceMC::CAPACITY> XLargeMotionSequenceNode; //!< streamlined access to the standard template sizes

/*! @file
 * @brief Describes MotionSequenceNode, a StateNode for playing a MotionSequence (and looping it if desired)
 * @author ejt (Creator)
 */

#endif