VREPQuadLaser.h

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#ifndef   _GAMS_PLATFORM_VREP_QUAD_LASER_H_
#define   _GAMS_PLATFORM_VREP_QUAD_LASER_H_
 
#include "gams/platforms/PlatformFactory.h"
#include "gams/platforms/vrep/VREPBase.h"
#include "gams/platforms/vrep/VREPQuad.h"
#include "gams/variables/Self.h"
#include "gams/variables/Sensor.h"
#include "gams/variables/PlatformStatus.h"
#include "madara/knowledge/KnowledgeBase.h"
#include "madara/threads/Threader.h"
#include "madara/threads/BaseThread.h"
#include "madara/knowledge/containers/NativeDoubleVector.h"
 
extern "C" {
#include "extApi.h"
}
 
#ifdef _GAMS_VREP_
 
namespace gams
{
  namespace platforms
  {
    class GAMS_EXPORT HasRangeSensor
    {
    public:
      virtual double get_range() const = 0;
      virtual ~HasRangeSensor() = default;
    };
 
    class GAMS_EXPORT HasAltitudeSensor
    {
    public:
      virtual double get_altitude() const = 0;
      virtual ~HasAltitudeSensor() = default;
    };
 
    class GAMS_EXPORT HasColorSensor
    {
    public:
      virtual uint32_t get_color() const = 0;
      virtual ~HasColorSensor() = default;
    };
 
    class GAMS_EXPORT HasColor
    {
    public:
      virtual void set_color(uint32_t color) const = 0;
      virtual ~HasColor() = default;
    };
 
    class GAMS_EXPORT VREPQuadLaser : public VREPQuad, public HasRangeSensor,
      public HasAltitudeSensor, public HasColorSensor, public HasColor
    {
    public:
      const static std::string DEFAULT_MODEL;
 
      VREPQuadLaser(
        std::string model_file, 
        simxUChar is_client_side, 
        madara::knowledge::KnowledgeBase * knowledge,
        variables::Sensors * sensors,
        variables::Platforms * platforms,
        variables::Self * self);
      
      virtual std::string get_id() const;
 
      virtual std::string get_name() const;
 
      virtual double get_range() const;
      virtual uint32_t get_color() const;
      virtual void set_color(uint32_t color) const;
      virtual double get_altitude() const;
 
    protected:
      void get_sensor_handles();
      double read_sensor(simxInt handle, double range) const;
 
      virtual void add_model_to_environment(const std::string& file, 
        const simxUChar client_side);
 
      simxInt laser_sensor_;
      simxInt sonar_sensor_;
    }; // class VREPQuad
 
    class GAMS_EXPORT VREPQuadLaserFactory : public VREPQuadFactory
    {
    protected:
      virtual std::string get_default_model();
      using VREPQuadFactory::get_default_model;
 
      virtual VREPQuadLaser *create_quad(
        std::string model_file, 
        simxUChar is_client_side, 
        madara::knowledge::KnowledgeBase * knowledge,
        variables::Sensors * sensors,
        variables::Platforms * platforms,
        variables::Self * self);
    };
  } // namespace platform
} // namespace gams
 
#endif // _GAMS_VREP_
 
#endif // _GAMS_PLATFORM_VREP_QUAD_LASER_H_