NAO_State.hpp

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#ifndef NAO_State_DEFINED
#define NAO_State_DEFINED
 
#include <sys/types.h>
#include <sstream>
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
#include <ctype.h>
#endif
 
#include "wb_nao_state.h"
 
namespace guWhiteboard                                                  
{
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
        static const char *Robot_Stance_stringValues[NUM_OF_STANCES] =
        {
                "Standing",
                "FallenForward",
                "FallenBack",
                "FallenLeft",
                "FallenRight",
                "Sitting",      //NYI
                "Kneeling",     //NYI
                "Knitting",     //NYI to be implemented by Rene
                "PickedUp",
                "KickingWithLeftFoot",
                "KickingWithRightFoot"
        };
 
        static const char *Robot_Walk_stringValues[NUM_OF_WALKS] =
        {
                "Modded_UNSW_Walk",
                "ALMotion_Walk"
        };
#endif
 
        class NAO_State : public wb_nao_state
        {
        public:
                NAO_State(): wb_nao_state() {}
 
                bool fallen() const { return stance() == FallenForward || stance() == FallenBack || stance() == FallenLeft || stance() == FallenRight; }
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
                NAO_State(const std::string &command): wb_nao_state() { from_string(command); }
 
                std::string description()
                {
                        std::stringstream ss;
 
                        ss << Robot_Stance_stringValues[int(stance())] << ", " << Robot_Walk_stringValues[int(walk())] << ", " << (chest_pressed_long() ? "L" : "") << int(chest_pressed()) << " @chest, " << (left_foot_pressed_long() ? "L" : "") << int(left_foot_pressed()) << " @lfoot, " << (right_foot_pressed_long() ? "L" : "") << int(right_foot_pressed()) << " @rfoot";
 
                        return ss.str();
                }
 
                void from_string(const std::string &str)
                {
                        std::istringstream iss(str);
                        std::string token;
                        getline(iss, token, ',');
                        gu_trim(token);
 
                        if (token.length() && (token[0] == 'l' || token[0] == 'L' || isdigit(*token.c_str()))) goto chest_button;
 
                        for (int i = Standing; i < NUM_OF_STANCES; i++)
                        {
                                if (token == Robot_Stance_stringValues[i])
                                {
                                        set_stance(Robot_Stance(i));
                                        break;
                                }
                        }
 
                        if (!getline(iss, token, ',')) return;
                        gu_trim(token);
            
            for (int i = Modded_UNSW_Walk; i < NUM_OF_WALKS; i++)
                        {
                                if (token == Robot_Walk_stringValues[i])
                                {
                                        set_walk(Robot_Walk(i));
                                        break;
                                }
                        }
 
                        if (!getline(iss, token, ',')) return;
                        gu_trim(token);
 
                chest_button:
                        if (token.length())
                        {
                                const char *value = token.c_str();
                                if (*value == 'l' || *value == 'L')
                                {
                                        set_chest_pressed_long(true);
                                        value++;
                                }
                                set_chest_pressed(bool(value));
                        }
 
                        if (!getline(iss, token, ',')) return;
                        gu_trim(token);
                        if (token.length())
                        {
                                const char *value = token.c_str();
                                if (*value == 'l' || *value == 'L')
                                {
                                        set_left_foot_pressed_long(true);
                                        value++;
                                }
                                set_left_foot_pressed(bool(value));
                        }
 
                        if (!getline(iss, token, ',')) return;
                        gu_trim(token);
                        if (token.length())
                        {
                                const char *value = token.c_str();
                                if (*value == 'l' || *value == 'L')
                                {
                                        set_right_foot_pressed_long(true);
                                        value++;
                                }
                                set_right_foot_pressed(bool(value));
                        }
                }
#endif // WHITEBOARD_POSTER_STRING_CONVERSION
        };
}
 
 
#endif //NAO_State_DEFINED