00001 /** 00002 * @file GT2004RobotStateDetector.h 00003 * 00004 * Definition of class DefaultRobotStateDetector 00005 * 00006 */ 00007 00008 #ifndef __DefaultRobotStateDetector_h_ 00009 #define __DefaultRobotStateDetector_h_ 00010 00011 #include "RobotStateDetector.h" 00012 00013 00014 #include "Tools/Debugging/Debugging.h" /////***** 00015 00016 /** 00017 * @class DefaultRobotStateDetector 00018 * 00019 * A solution of the RobotStateDetector module. 00020 * 00021 * @author = Max Risler 00022 */ 00023 class GT2004RobotStateDetector : public RobotStateDetector 00024 { 00025 public: 00026 /** 00027 * Constructor. 00028 * @param interfaces The paramters of the RobotStateDetector module. 00029 */ 00030 GT2004RobotStateDetector(const RobotStateDetectorInterfaces& interfaces); 00031 00032 /** Executes the module */ 00033 virtual void execute(); 00034 00035 private: 00036 00037 void calculateCollisionState(); 00038 00039 void setNewButtonStatus(); 00040 00041 bool switchDown[BodyPercept::numOfSwitches]; 00042 long switchDownTime[BodyPercept::numOfSwitches]; 00043 long timeSinceLastCollision[6]; //here are the last collision time points 00044 long consecutiveCollisionTime[6]; //here are the consecutive collision time points 00045 long remindCollision; // time distance during which the last collision is remembered 00046 int getCollisionSide(); //on which side did more collisions occur 00047 void setCollisionOnLeftSide(bool collision); //add another collision to left side 00048 void setCollisionOnRightSide(bool collision);//add another collision to right side 00049 00050 enum {middle = 0, 00051 left, 00052 right, 00053 robotSides}; 00054 00055 enum {maxFrameHistory = 200}; 00056 00057 bool numOfCollisions[maxFrameHistory][robotSides]; 00058 00059 00060 /***/ 00061 bool buttonPressed[BodyPercept::numOfSwitches]; //0 Button not pressed, 1 Button pressed 00062 long buttonTime[BodyPercept::numOfSwitches]; // The time as the button was pressed/released 00063 long buttonPressedTime[BodyPercept::numOfSwitches]; // How long the last button was pressed (after releasing it) 00064 long buttonDuration[BodyPercept::numOfSwitches]; // How long the button is pressed/released 00065 bool anyBackButtonPressed; // The same information for any backbutton 00066 long anyBackButtonTime; 00067 long anyBackButtonPressedTime; 00068 long anyBackButtonDuration; 00069 /***/ 00070 }; 00071 00072 #endif// __GT2004RobotStateDetector_h_ 00073 00074 /* 00075 * Change log : 00076 * 00077 * $Log: GT2004RobotStateDetector.h,v $ 00078 * Revision 1.2 2004/09/08 14:39:03 wachter 00079 * - Fixed some doxygen-errors 00080 * 00081 * Revision 1.1 2004/07/10 00:18:31 spranger 00082 * renamed (readded) for coderelease 00083 * 00084 * Revision 1.3 2004/06/23 11:02:26 goehring 00085 * Xabsl symbol collision-side added 00086 * 00087 * Revision 1.2 2004/05/24 14:14:26 juengel 00088 * New button evaluation. 00089 * 00090 * Revision 1.1.1.1 2004/05/22 17:20:41 cvsadm 00091 * created new repository GT2004_WM 00092 * 00093 * Revision 1.3 2004/05/11 06:59:05 brueckne 00094 * added new way to know how long a button is/was pressed/released (not ready yet) 00095 * 00096 * Revision 1.2 2004/03/08 02:11:45 roefer 00097 * Interfaces should be const 00098 * 00099 * Revision 1.1 2003/10/06 14:10:14 cvsadm 00100 * Created GT2004 (M.J.) 00101 * 00102 * Revision 1.1.1.1 2003/07/02 09:40:24 cvsadm 00103 * created new repository for the competitions in Padova from the 00104 * tamara CVS (Tuesday 2:00 pm) 00105 * 00106 * removed unused solutions 00107 * 00108 * Revision 1.7 2003/06/21 13:07:36 goehring 00109 * CollisionStateSymbol modelling changed 00110 * 00111 * Revision 1.6 2003/06/20 16:57:46 goehring 00112 * CollisionDetectorValues improved 00113 * 00114 * Revision 1.5 2003/06/20 14:50:07 risler 00115 * numOfSwitches added 00116 * 00117 * Revision 1.4 2003/06/20 10:29:27 goehring 00118 * MotionCombination thresholds implemented, Review 00119 * 00120 * Revision 1.3 2002/10/14 13:14:24 dueffert 00121 * doxygen comments corrected 00122 * 00123 * Revision 1.2 2002/09/12 09:45:58 juengel 00124 * continued change of module/solution mechanisms 00125 * 00126 * Revision 1.1 2002/09/10 15:36:15 cvsadm 00127 * Created new project GT2003 (M.L.) 00128 * - Cleaned up the /Src/DataTypes directory 00129 * - Removed challenge related source code 00130 * - Removed processing of incoming audio data 00131 * - Renamed AcousticMessage to SoundRequest 00132 * 00133 * Revision 1.2 2002/08/22 14:41:03 risler 00134 * added some doxygen comments 00135 * 00136 * Revision 1.1.1.1 2002/05/10 12:40:15 cvsadm 00137 * Moved GT2002 Project from ute to tamara. 00138 * 00139 * Revision 1.4 2002/03/28 16:55:58 risler 00140 * RobotStateDetector receives BodyPercept instead of PerceptCollection 00141 * added switch duration in RobotStateDetector 00142 * 00143 * Revision 1.3 2002/03/28 15:19:20 risler 00144 * implemented switch messages in RobotStateDetector 00145 * 00146 * Revision 1.2 2001/12/10 17:47:06 risler 00147 * change log added 00148 * 00149 */
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