humotion

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* or (at your option) any later version.

*

* Software distributed under the License is distributed

* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

* express or implied. See the LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.html

* or write to the Free Software Foundation, Inc.,

* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*

* The development of this software was supported by the

* Excellence Cluster EXC 277 Cognitive Interaction Technology.

* The Excellence Cluster EXC 277 is a grant of the Deutsche

* Forschungsgemeinschaft (DFG) in the context of the German

* Excellence Initiative.

*/

#pragma once

#include <cstdio>

#include <cstdint>

#include <string>

#include <map>

#include "../timestamped_list.h"

#include "../mouth_state.h"

#include "../gaze_state.h"

#include "boost/date_time/posix_time/posix_time.hpp"

#include <boost/thread/thread_time.hpp>

#include <boost/thread/thread.hpp>

#include <boost/thread/mutex.hpp>

namespace humotion{

namespace server{

//forward declaration to solve include loop

class Controller;

class JointInterface{

public:

    JointInterface();

    ~JointInterface();

    void set_target_position(int joint_id, float position);

    float get_target_position(int joint_id);

    virtual void publish_target_position(int joint_id) = 0;

    virtual void execute_motion() = 0;

    typedef std::map<int, TimestampedList> joint_tsl_map_t;

    TimestampedList get_ts_position(int joint_id);

    TimestampedList get_ts_speed(int joint_id);

    void set_framerate(float f);

    void enable_mouth_joints();

    void disable_mouth_joints();

    bool mouth_target_input_active();

    void enable_gaze_joints();

    void disable_gaze_joints();

    bool gaze_target_input_active();

    float get_joint_min(int joint_id);

    float get_joint_max(int joint_id);

    void dump_angles();

    unsigned int get_and_clear_incoming_position_count();

    enum JOINT_ID_ENUM{

        ZERO = 0,

        ID_LIP_LEFT_UPPER,

        ID_LIP_LEFT_LOWER,

        ID_LIP_CENTER_UPPER,

        ID_LIP_CENTER_LOWER,

        ID_LIP_RIGHT_UPPER,

        ID_LIP_RIGHT_LOWER,

        ID_NECK_PAN,

        ID_NECK_TILT,

        ID_NECK_ROLL,

        ID_EYES_LEFT_LR,

        ID_EYES_RIGHT_LR,

        ID_EYES_BOTH_UD,

        ID_EYES_LEFT_LID_LOWER,

        ID_EYES_LEFT_LID_UPPER,

        ID_EYES_RIGHT_LID_LOWER,

        ID_EYES_RIGHT_LID_UPPER,

        ID_EYES_LEFT_BROW,

        ID_EYES_RIGHT_BROW,

        JOINT_ID_ENUM_SIZE

    };

    bool get_joint_position_map_empty();

protected:

    void store_incoming_position(int joint_id, float position, double timestamp);

    void store_incoming_speed(int joint_id, float speed, double timestamp);

    virtual void enable_joint(int id) = 0;

    virtual void disable_joint(int id) = 0;

    float framerate;

    float joint_min[JOINT_ID_ENUM_SIZE];

    float joint_max[JOINT_ID_ENUM_SIZE];

    float joint_target[JOINT_ID_ENUM_SIZE];

private:

    boost::mutex joint_ts_position_map_access_mutex;

    boost::mutex joint_ts_speed_map_access_mutex;

    joint_tsl_map_t joint_ts_position_map;

    joint_tsl_map_t joint_ts_speed_map;

    bool mouth_enabled;

    bool gaze_enabled;

    unsigned int incoming_position_count;

};

}

}