OscPlatform.h

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#ifndef   _GAMS_PLATFORM_OSCPLATFORM_H_
#define   _GAMS_PLATFORM_OSCPLATFORM_H_
 
#ifdef _GAMS_OSC_
 
#include <vector>
 
#include "madara/knowledge/KnowledgeBase.h"
#include "madara/utility/EpochEnforcer.h"
#include "madara/utility/Timer.h"
 
#include "gams/variables/Self.h"
#include "gams/variables/Sensor.h"
#include "gams/variables/PlatformStatus.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/platforms/PlatformFactory.h"
#include "gams/pose/CartesianFrame.h"
 
#include "gams/utility/OscUdp.h"
 
namespace gams { namespace platforms
{        
  class GAMS_EXPORT OscPlatform : public BasePlatform
  {
  public:
 
    enum MovementTypes
    {
      MOVEMENT_STOP_ON_ARRIVAL = 0,
      MOVEMENT_PASSTHROUGH = 1
    };
 
    OscPlatform(
      madara::knowledge::KnowledgeBase * knowledge = 0,
      gams::variables::Sensors * sensors = 0,
      gams::variables::Self * self = 0,
      const std::string & type = "quadcopter");
 
    virtual ~OscPlatform();
 
    virtual int sense(void) override;
 
    virtual int analyze(void) override;
 
    virtual std::string get_name() const override;
 
    virtual std::string get_id() const override;
 
    virtual double get_accuracy(void) const override;
 
    virtual double get_min_sensor_range(void) const override;
 
    virtual double get_move_speed(void) const override;
 
    virtual int home(void) override;
 
    virtual int land(void) override;
 
    int move(const pose::Position & location,
      const pose::PositionBounds &bounds) override;
 
    using BasePlatform::move;
 
    int orient(const pose::Orientation & location,
    const pose::OrientationBounds &bounds) override;
 
    using BasePlatform::orient;
 
    virtual void pause_move(void) override;
 
    virtual void set_move_speed(const double& speed) override;
 
    virtual void stop_move(void) override;
 
    virtual int takeoff(void) override;
    
    virtual const gams::pose::ReferenceFrame & get_frame(void) const override;
    
  private:
    void build_prefixes(void);
 
    std::vector<double> calculate_thrust(
      const pose::Position & current, const pose::Position & target,
      bool & finished);
 
    gams::utility::OscUdp osc_;
 
    madara::transport::QoSTransportSettings settings_;
 
    std::string xy_velocity_prefix_;
 
    std::string z_velocity_prefix_;
 
    std::string yaw_velocity_prefix_;
 
    std::string position_prefix_;
 
    std::string rotation_prefix_;
 
    bool is_created_ = false;
 
    std::string json_creation_;
 
    pose::Position last_move_;
 
    pose::Orientation last_orient_;
 
    madara::utility::Timer<madara::utility::Clock> move_timer_;
 
    madara::utility::Timer<madara::utility::Clock> last_thrust_timer_;
 
    madara::utility::Timer<madara::utility::Clock> last_position_timer_;
 
    std::string type_;
 
    double loiter_timeout_;
 
    double respawn_timeout_;
  }; // end OscPlatform class
    
 
  class GAMS_EXPORT OscPlatformFactory : public PlatformFactory
  {
  public:
 
    OscPlatformFactory(const std::string & type = "quadcopter");
 
    virtual ~OscPlatformFactory();
 
    virtual BasePlatform * create(
      const madara::knowledge::KnowledgeMap & args,
      madara::knowledge::KnowledgeBase * knowledge,
      variables::Sensors * sensors,
      variables::Platforms * platforms,
      variables::Self * self);
 
    std::string type_;
  };
    
} // end platforms namespace
} // end gams namespace
 
#endif //  #ifdef _GAMS_OSC_
 
#endif // _GAMS_PLATFORM_OSCPLATFORM_H_