CRobotApp.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.

Alternatively, you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of
the License, or (at your option) any later version.

scl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
 */
/* \file CRobotApp.hpp
 *
 *  Created on: Sep 16, 2011
 *
 *  Copyright (C) 2011
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef CROBOTAPP_HPP_
#define CROBOTAPP_HPP_

//Standard includes
#include <scl/DataTypes.hpp>
#include <scl/control/task/CTaskBase.hpp>
#include <scl/robot/CRobot.hpp>
#include <scl/dynamics/tao/CDynamicsTao.hpp>
#include <scl/dynamics/scl/CDynamicsScl.hpp>

#ifdef GRAPHICS_ON
#include <scl/graphics/chai/CGraphicsChai.hpp>
#endif

namespace scl
{
  class CRobotApp
  {
  public:
    /***********************************************************************
     * NOTE : You must subclass and implement these to suit your application
     *        Keep in mind that the CRobotApp does most things for you already.
     ************************************************************************/
    virtual void stepMySimulation()=0;

    virtual scl::sBool initMyController(const std::vector<std::string>& argv,
        sUInt args_already_parsed)=0;

    virtual scl::sBool registerCustomDynamicTypes()
    { return true;  }

    virtual scl::sBool setInitialStateForUIAndDynamics()=0;

  public:
    /************************************************************************/
    /***************NOTE : You should NOT need to modify these **************/
    /****************       But feel free to use the objects   **************/
    /************************************************************************/

    CRobotApp();

    virtual ~CRobotApp(){}

    scl::sBool init(const std::vector<std::string>& argv);

#ifdef GRAPHICS_ON
    scl::sBool initGraphics(
        const timespec& arg_ts,
        const int arg_gr_frm_ctr);
#endif

    virtual void terminate();

    void runMainLoopThreaded(const int& thread_id);

    void runMainLoop();

    void runConsoleShell();

    //Data types. Feel free to use them.
    scl::SDatabase* db_;                 //Generic database (for sharing data)

    std::vector<std::string> robots_parsed_;   //Parsed robots

    std::string robot_name_;             //Currently selected robot
    std::string ctrl_name_;              //Currently selected controller

    scl::CRobot robot_;                  //Generic robot
    scl::SRobotParsed *rob_ds_;          //Generic robot data structure
    scl::SRobotIO* rob_io_ds_;       //Access the robot's sensors and actuators

    scl::CDynamicsTao* dyn_tao_;         //Generic tao dynamics
    scl::CDynamicsScl* dyn_scl_;         //Generic tao dynamics

    scl::sLongLong ctrl_ctr_;            //Controller computation counter
    scl::sFloat t_start_, t_end_;         //Start and end times

    class SUiCtrlPointData
    {
    public:
      std::string name_;
      scl::CTaskBase* task_;
      scl::sInt ui_pt_;
      scl::sBool has_been_init_;
#ifdef GRAPHICS_ON
      Eigen::VectorXd pos_, pos_des_;
      chai3d::cGenericObject *chai_pos_,*chai_pos_des_;
#endif
      SUiCtrlPointData() :
        name_(""),task_(NULL),ui_pt_(-1),
        has_been_init_(false)
#ifdef GRAPHICS_ON
        , chai_pos_(NULL), chai_pos_des_(NULL)
#endif
      {}
    };
    std::vector<SUiCtrlPointData> taskvec_ui_ctrl_point_;

    //Graphics stuff
#ifdef GRAPHICS_ON
    std::vector<std::string> graphics_parsed_; //Parsed graphics views
    scl::CGraphicsChai chai_gr_;         //Generic chai graphics
    scl::sLongLong gr_ctr_;              //Graphic update counter
    timespec ts_;                       //Sleep for graphics (nanoseconds)
    int gr_frm_skip_;                   //Graphics frames to skip (single-threaded mode)
    int gr_frm_ctr_;                    //Graphics frame counter (single-threaded mode)
#endif
  };
}

#endif /* CROBOTAPP_HPP_ */