FormationControlElement.hpp

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/*
 * FormationControlElement.hpp
 *
 *  Created on: Feb 10, 2012
 *      Author: mriedel
 */

#ifndef FORMATIONCONTROLELEMENT_HPP_
#define FORMATIONCONTROLELEMENT_HPP_

#include <telekyb_interface/TeleKybCore.hpp>
#include <telekyb_interface/MKInterface.hpp>

using namespace telekyb;

class FormationControlElement : telekyb_interface::ActiveBehaviorListener {
private:
        void setupFormationControlElement();

public:
        // ID
        int robotID;

        // the System
        telekyb_interface::TeleKybCore* core;
        // BehaviorController
        telekyb_interface::BehaviorController* bController;
        telekyb_interface::OptionController *oController;

        // Optional MKInterface
        telekyb_interface::MKInterface* mkInterface;

        // Behavior
        telekyb_interface::Behavior* activeBehaviorPtr;


        FormationControlElement(int robotID_, bool useMKInterface_);
        virtual ~FormationControlElement();

        void activeBehaviorChanged(telekyb_interface::Behavior newActiveBehavior);

        telekyb_interface::MKInterface* getMKInterfacePointer() const;
        telekyb_interface::TeleKybCore* getTeleKybCorePointer() const;

        // for convienence
        bool mkSetEmergency();

        bool mkToggleMotors();

        // lift land
        bool liftland();


//      void switchIntoFormation() const;

        // Behaviors
        // System Behaviors
        telekyb_interface::Behavior ground;
        telekyb_interface::Behavior hover;
        telekyb_interface::Behavior normalBreak;
        telekyb_interface::Behavior takeOff;
        telekyb_interface::Behavior land;

        // FormationControl
        telekyb_interface::Behavior formation4;
        telekyb_interface::Behavior formation3;
        telekyb_interface::Behavior tetraeder;
        telekyb_interface::Behavior square;
        telekyb_interface::Behavior triangle;


};

#endif /* FORMATIONCONTROLELEMENT_HPP_ */