marxbotmotors.h

/********************************************************************************
 *  FARSA Experimentes Library                                                  *
 *  Copyright (C) 2007-2012                                                     *
 *  Gianluca Massera <emmegian@yahoo.it>                                        *
 *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
 *  Tomassino Ferrauto <tomassino.ferrauto@istc.cnr.it>                         *
 *  Onofrio Gigliotta <onofrio.gigliotta@istc.cnr.it>                           *
 *                                                                              *
 *  This program is free software; 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.                                         *
 *                                                                              *
 *  This program 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 General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifndef MARXBOTMOTORS_H
#define MARXBOTMOTORS_H

#include "experimentsconfig.h"
#include "neuroninterfaces.h"
#include "robots.h"
#include "motors.h"
#include <QColor>

namespace farsa {

class FARSA_EXPERIMENTS_API MarXbotMotor : public Motor
{
public:
    MarXbotMotor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotMotor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

protected:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    QString m_marxbotResource;

    QString m_neuronsIteratorResource;
};

class FARSA_EXPERIMENTS_API MarXbotWheelVelocityMotor : public MarXbotMotor
{
public:
    MarXbotWheelVelocityMotor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotWheelVelocityMotor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual void update();

    virtual int size();

private:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;
};

class FARSA_EXPERIMENTS_API MarXbotWheelVelOrient : public MarXbotMotor
{
public:
    MarXbotWheelVelOrient(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotWheelVelOrient();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual void update();

    virtual int size();

private:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;
};

class FARSA_EXPERIMENTS_API MarXbotColorMotor : public MarXbotMotor
{
public:
    MarXbotColorMotor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotColorMotor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual void update();

    virtual int size();

private:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;

    const QColor m_onColor;

    const QColor m_offColor;

    const real m_onThreshold;

    const real m_offThreshold;
};

class FARSA_EXPERIMENTS_API MarXbotAttachmentDeviceMotor : public MarXbotMotor
{
private:
    enum TypeOfClosure {
        OnlyClose,
        OnlyHalfClose,
        Both,
        Invalid 
    };

public:
    MarXbotAttachmentDeviceMotor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotAttachmentDeviceMotor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual void update();

    virtual int size();

private:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    static TypeOfClosure typeOfClosureFromString(QString value);

    static QString typeOfClosureToString(TypeOfClosure value);

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;

    const TypeOfClosure m_typeOfClosure;

    const real m_noMotionRange;

    const real m_noMotionRangeLow;

    const real m_noMotionRangeUp;
};

}

#endif