VisionBall.hpp

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/* 
 * File:   VisionBall.h
 * Author: eugene
 *
 * Created on 25 November 2013, 6:03 PM
 */
 
#ifndef VisionBall_DEFINED
#define VisionBall_DEFINED
 
#include <string>
#include <cstdlib>
#include <bitset>
#include <algorithm>
 
#include <SimpleShapes.h>
#include "wb_ball.h"
 
#include "VisionControlStatus.h"
 
namespace guWhiteboard {
    
class VisionBall {
    PROPERTY(uint64_t, frameNumber)
    PROPERTY(wb_ball, topBall)
    PROPERTY(wb_ball, bottomBall)
    PROPERTY(bool, topVisible)
    PROPERTY(bool, bottomVisible)
    PROPERTY(int16_t, pad)
public:
    VisionBall() : _frameNumber(0), _topBall(), _bottomBall() {
    }
    
    VisionBall &operator=(const VisionBall& a) {
        _frameNumber = a.frameNumber();
        _topBall = a.topBall();
        _bottomBall = a.bottomBall();
        set_topVisible(a.topVisible());
        set_bottomVisible(a.bottomVisible());
        return *this;
    }
    
    VisionBall(const VisionBall &ball) {
        _frameNumber = ball.frameNumber();
        _topBall = ball.topBall();
        _bottomBall = ball.bottomBall();
        set_topVisible(ball.topVisible());
        set_bottomVisible(ball.bottomVisible());
    }
    
    std::bitset<2> getMask() const {
        std::bitset<2> objectMask;
        objectMask[Top] = _topVisible;
        objectMask[Bottom] = _bottomVisible;
        return objectMask;
    }
 
    void setBall(SimpleCircle ballInfo, VisionCamera camera) {
        if(camera == Top) {
            topBall().set_x(ballInfo.GetCenter().x);
            topBall().set_y(ballInfo.GetCenter().y);
            topBall().set_radius(ballInfo.GetRadius());
            set_topVisible(true);
        }
        if(camera == Bottom) {
            bottomBall().set_x(ballInfo.GetCenter().x);
            bottomBall().set_y(ballInfo.GetCenter().y);
            bottomBall().set_radius(ballInfo.GetRadius());
                    
            set_bottomVisible(true);
        }
    }
    
    void setBall(wb_ball ballInfo, VisionCamera camera) {
        if(camera == Top) {
            topBall().set_x(ballInfo.x());
            topBall().set_y(ballInfo.y());
                        topBall().set_radius(ballInfo.radius());
                        set_topVisible(true);
        }
        if(camera == Bottom) {
            bottomBall().set_x(ballInfo.x());
            bottomBall().set_y(ballInfo.y());
            bottomBall().set_radius(ballInfo.radius());
                        set_bottomVisible(true);
 
                }
    }
 
    int16_t topRadius() const { return topBall().radius(); }
    
    int16_t topX() const { return topBall().x(); }
    
    int16_t topY() const { return topBall().y(); }
    
    int16_t bottomRadius() const { return bottomBall().radius(); }
    
    int16_t bottomX() const { return bottomBall().x(); }
    
    int16_t bottomY() const { return bottomBall().y(); }
    
    bool visible() {return topVisible() || bottomVisible(); }
    
    int16_t radius() const { 
        if (topVisible())
            return topBall().radius();
        else if (bottomVisible())
            return bottomBall().radius();
        else
            return 0;
    }
    
    int16_t x() const { 
                if (topVisible())
            return topBall().x();
                else if (bottomVisible())
            return bottomBall().x();
        else
            return 0;
    }
    
    int16_t y() const { 
                if (topVisible())
                    return topBall().y();
                else if (bottomVisible())
                    return bottomBall().y();
        else
            return 0;
    }
    
    void Reset() {
        set_topVisible(false);
        set_bottomVisible(false);
    }
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
        
        static const char SEPARATOR_IS_AT = '@';
 
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wc++98-compat"
        VisionBall(std::string s): VisionBall() {
                from_string(s);
        }
 
        VisionBall(const char *s): VisionBall() {
                from_string(std::string(s));
        }
#pragma clang diagnostic pop
        
    void from_string(std::string s) {
        std::string radiousDel (1,SEPARATOR_IS_AT);
        set_frameNumber(0);
        Reset();
        size_t n = -4;
        std::string command = "BALL";
        std::transform(s.begin(), s.end(), s.begin(), ::toupper);
        while(n!=std::string::npos) {
            n = s.find(command, n+4);
            if (n!=std::string::npos && n>=3) {
                std::string t = s.substr(n+command.length()+1);
                SimpleCircle ballInfo;
                VisionCamera cam;
                if(s.substr(n-3, 3).find("TOP") != std::string::npos)
                    cam = Top;
                else
                    cam = Bottom;
                
                ballInfo.setCenter(t.c_str());
                                 std::size_t found = t.find(SEPARATOR_IS_AT);
                                if (std::string::npos!=found )
                                { std::string strRadious=t.substr (found+1);
                                        ballInfo.setRadius(static_cast<u_int16_t>(::atoi(strRadious.c_str())));
                                }
                setBall(ballInfo, cam);
            }
        }
        std::string fnum = "FRAMENUMBER";
        n = s.find(fnum);
        if(n != std::string::npos) {
            
            set_frameNumber(atol(s.substr(n+fnum.length()+1).c_str()));
        }
    }
    
    std::string description() {
        std::stringstream result;
        if(_topVisible) {
            result << "TopBall:(" << topBall().x() << "," << topBall().y() << ")"<< SEPARATOR_IS_AT << topBall().radius();
        }
        if(_bottomVisible) {
            result << "BottomBall:(" << bottomBall().x() << "," << bottomBall().y() << ")"<< SEPARATOR_IS_AT << bottomBall().radius();
        }
        result << "FrameNumber=" << frameNumber();
        return result.str();
    }
#endif // WHITEBOARD_POSTER_STRING_CONVERSION
 
};
}
 
#endif  /* VisionBall_DEFINED */