SDatabase.hpp

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/* 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 SDatabase.hpp
 *
 *  Created on: Jun 21, 2010
 *
 *  Copyright (C) 2011
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef SDATABASE_HPP_
#define SDATABASE_HPP_

//Controller data --> Dynamically updated information.
#include <scl/control/task/data_structs/SControllerMultiTask.hpp>
#include <scl/control/gc/data_structs/SControllerGc.hpp>

//Parser data --> Static information about the robot
#include <scl/data_structs/SRobotParsed.hpp>
#include <scl/data_structs/SGraphicsParsed.hpp>
#include <scl/data_structs/SRobotIO.hpp>
#include <scl/data_structs/SActuatorSetMuscleParsed.hpp>
#include <scl/data_structs/SUIParsed.hpp>

#include <scl/graphics/chai/data_structs/SGraphicsChai.hpp>

//3rdparty Utils
#include <sutil/CMappedList.hpp>
#include <sutil/CMappedMultiLevelList.hpp>

#include <map>
#include <string>
#include <iostream>

namespace scl {

struct SParserData
{
  sutil::CMappedList<std::string,SGraphicsParsed> graphics_worlds_;

  sutil::CMappedList<std::string,SRobotParsed> robots_;

  sutil::CMappedList<std::string,SActuatorSetMuscleParsed> muscle_sets_;

  sutil::CMappedList<std::string,SUIParsed> user_interface_;

  std::string file_name_;
};

class SControllerData
{
public:
  sutil::CMappedPointerList<std::string,SControllerBase, true> controllers_;

  sutil::CMappedPointerList<std::string,STaskBase, true> tasks_;

  sutil::CMappedPointerList<std::string,SNonControlTaskBase, true> tasks_non_ctrl_;

  sBool getControllersForRobot(const std::string & arg_robot,
      std::vector<SControllerBase*>& ret_controllers)
  {
    ret_controllers.clear();
    sutil::CMappedPointerList<std::string, scl::SControllerBase, true>::iterator it, ite;
    for(it = controllers_.begin(), ite = controllers_.end(); it!=ite; ++it)
    {
      SControllerBase* tmp = *it;

      if(S_NULL == tmp->robot_)
      {
        std::cout<<"SControllerData::getControllersForRobot()"
            <<"WARNING : Found NULL robot controller ds in the pile.";
        return false;
      }

      if(tmp->robot_->name_ == arg_robot)
      { ret_controllers.push_back(tmp); }
    }
    if(0 < ret_controllers.size())
    { return true;  }
    else
    { return false; }
  }
};

#define SCL_NUM_UI_POINTS 12

#define SCL_NUM_UI_FLAGS 9

struct SGuiData
{
  // Eigen requires redefining the new operator for classes that contain fixed size Eigen member-data.
  // See http://eigen.tuxfamily.org/dox/StructHavingEigenMembers.html
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  sutil::CMappedList<std::string,scl::SGraphicsChai> chai_data_;

  Eigen::Vector3d ui_point_[SCL_NUM_UI_POINTS];

  sBool ui_flag_[SCL_NUM_UI_FLAGS];

  sUInt ui_point_selector_;

  sBool glut_initialized_;

  SGuiData() : glut_initialized_(false) {
    ui_point_selector_=0;
    for(int i=0;i<SCL_NUM_UI_FLAGS;++i)ui_flag_[i] = false;
  }
};

struct SIOData
{
  sutil::CMappedList<std::string, SRobotIO> io_data_;
};


class SDatabase{
public:
  /*******************************************
   ********************************************
   * The Static Data:
   * Doesn't change during runtime
   * [[Zero writers, multiple readers]]
   ********************************************/
  SParserData s_parser_;

  /*******************************************
   ********************************************
   * The Dynamic Data:
   * Changes during runtime
   * [[Single writer, multiple readers]]
   *
   * NOTE: The programmer is responsible for
   * ensuring threaded safety.
   ********************************************/
  SControllerData s_controller_;

  SIOData s_io_;

  SGuiData s_gui_;

  /***********
   * Time data:
   ************/
  sLongLong sim_ticks_;

  sFloat sim_dt_;

  sFloat time_;

  std::string cwd_;

  std::string dir_specs_;

  /***********
   * Exec data:
   ************/
  sBool running_;

  sBool pause_ctrl_dyn_;

  sBool step_ctrl_dyn_;

  sBool pause_graphics_;

  sBool param_logging_on_;

  SDatabase()
  {
    sim_ticks_ = 0;
#ifdef SCL_HIGH_QUALITY_SIMULATION
    sim_dt_ = 0.00005;//0.05ms
#else
    sim_dt_ = 0.0005;//0.5ms
#endif
    time_ = 0.0;
    cwd_ = "";
    dir_specs_ = "";
    running_ = true;
    pause_ctrl_dyn_ = false;
    step_ctrl_dyn_ = false;
    pause_graphics_ = false;
    param_logging_on_ = false;
  }
};

}

#endif /* SDATABASE_HPP_ */