TrajPlayback.hpp

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/*
 * TrajPlayback.hpp
 *
 *  Created on: Nov 12, 2011
 *      Author: mriedel
 */

#ifndef TRAJPLAYBACK_HPP_
#define TRAJPLAYBACK_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <tk_behavior/Behavior.hpp>

// plugin stuff
#include <pluginlib/class_list_macros.h>

#include <telekyb_base/Time.hpp>

#include <fstream>

using namespace TELEKYB_NAMESPACE;

namespace telekyb_behavior {

class TrajPlayback : public Behavior{
protected:
        Option<std::string>* tTrajectoryFilename;

        std::vector<std::string> fileFields;

        // File
        std::ifstream file;

        double nextTimeStep;
        unsigned int playbackPosition;
        Timer timer;

        TKTrajectory nextTrajInput;

        bool setNextTrajInput();

public:
        TrajPlayback();

        virtual void initialize();
        virtual void destroy();

        // Called directly after Change Event is registered.
        virtual bool willBecomeActive(const TKState& currentState, const Behavior& previousBehavior);
        // Called after actual Switch. Note: During execution trajectoryStepCreation is used
        virtual void didBecomeActive(const TKState& currentState, const Behavior& previousBehavior);
        // Called directly after Change Event is registered: During execution trajectoryStepTermination is used
        virtual void willBecomeInActive(const TKState& currentState, const Behavior& nextBehavior);
        // Called after actual Switch. Runs in seperate Thread.
        virtual void didBecomeInActive(const TKState& currentState, const Behavior& nextBehavior);

        // called everytime a new TKState is available AND it is the NEW Behavior of an active Switch
        virtual void trajectoryStepCreation(const TKState& currentState, TKTrajectory& generatedTrajInput);

        // called everytime a new TKState is available. Should return false if invalid (swtich to next behavior, or Hover if undef).
        virtual void trajectoryStepActive(const TKState& currentState, TKTrajectory& generatedTrajInput);

        // called everytime a new TKState is available AND it is the OLD Behavior of an active Switch
        virtual void trajectoryStepTermination(const TKState& currentState, TKTrajectory& generatedTrajInput);

        // Return true if the active Behavior is (still) valid. Initiate Switch otherwise
        virtual bool isValid(const TKState& currentState) const;

};

}

#endif /* TRAJPLAYBACK_HPP_ */