RunSequenceControl.h

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

#include "FileBrowserControl.h"
#include "Motion/MotionSequenceMC.h"
#include "Motion/EmergencyStopMC.h"
#include "Shared/RobotInfo.h"
#ifdef TGT_HAS_LEDS
#  include "Shared/ERS210Info.h"
#  include "Motion/LedMC.h"
#endif
#include "Events/EventRouter.h"
#include "Sound/SoundManager.h"
#include "Shared/TimeET.h"
#include "Shared/Config.h"
#include "Shared/ProjectInterface.h"
#include <string>

//! Upon activation, loads a position from a file name read from cin (stored in ms/data/motion...)
/*! The template parameter is passed to MotionSequenceMC's template
 *  parameter in order to specify the number of keyframes to reserve -
 *  larger values use more memory, but will allow you to load more
 *  complicated sequences.
 *
 *  The motion sequence doesn't actually start playing until the
 *  emergency stop is deactivated.  This avoids either cutting off the
 *  beginning of the sequence while still in estop, or having to
 *  override the estop, which may be unexpected.
 */
template<unsigned int SequenceSize>
class RunSequenceControl : public FileBrowserControl, public EventListener {
public:
  //! Constructor, sets filter to *.mot
  RunSequenceControl(const std::string& n)
    : FileBrowserControl(n,"Runs a motion sequence from a user-specified file",config->motion.root),
      ledid(invalid_MC_ID), waitingFile()
  {
    setFilter("*.mot");
  }

  //! destructor
  virtual ~RunSequenceControl() {
    erouter->removeListener(this);
    motman->removeMotion(ledid);
    ledid=invalid_MC_ID;
  }

  //! only called when e-stop has been turned off and we're waiting to load a file
  virtual void processEvent(const EventBase& /*event*/) {
    erouter->removeListener(this);
    runFile();
    motman->removeMotion(ledid);
    ledid=invalid_MC_ID;
  }
  
protected:
  //! loads the motion sequence and runs it
  void runFile() {
    //TimeET timer;
    SharedObject< MotionSequenceMC<SequenceSize> > s(waitingFile);
    //cout << "Load Time: " << timer.Age() << endl;
    motman->addPrunableMotion(s);
    waitingFile="";
  }

  //!does the actual loading of the MotionSequence
  virtual ControlBase* selectedFile(const std::string& f) {
    waitingFile=f;
    if(!ProjectInterface::estop->getStopped()) {
      runFile();
    } else {
      //we have to wait for the estop to be turned off
      sndman->playFile("donkey.wav");
#ifdef TGT_HAS_LEDS
      SharedObject<LedMC> led;
      led->cset(FaceLEDMask,0);
      unsigned int botl = capabilities.findOutputOffset(ERS210Info::outputNames[ERS210Info::BotLLEDOffset]);
      unsigned int botr = capabilities.findOutputOffset(ERS210Info::outputNames[ERS210Info::BotRLEDOffset]);
      if(botl==-1U || botr==-1U) {
        botl=LEDOffset;
        botr=NumLEDs>1 ? botl+1 : botl;
      }
      led->cycle(1<<(botl-LEDOffset),1000,3,0,0);
      led->cycle(1<<(botr-LEDOffset),1000,3,0,500);
      ledid=motman->addPersistentMotion(led);
#endif
      erouter->addListener(this,EventBase::estopEGID,ProjectInterface::estop.getID(),EventBase::deactivateETID);
    }
    return this;
  }

  MC_ID ledid; //!< MC_ID of the led we use to signal there's a MotionSequence lined up
  std::string waitingFile; //!< filename of the motion sequence waiting to load
};

/*! @file
 * @brief Defines RunSequenceControl, which when activated, loads and runs a motion sequence from a file name read from cin (stored in ms/data/motion)
 * @author ejt (Creator)
 */

#endif