PreMotorComplex.H

#ifndef __PREMOTOR_COMPLEX_H__
#define __PREMOTOR_COMPLEX_H__

#include "Component/ModelManager.H"

#include "Captain.H"
//#include "ActionInput.H"
#include "ComplexMovement.H"
#include "AgentManagerA.H"
#include "SubController.H"
#include "SubmarineAgent.H"

#define INVALID -1.0
#define XAXIS_ERROR_CONST 3;
#define ANGLE_ERROR_CONST 1;
#define YAXIS_ERROR_CONST 30;
#define ZAXIS_ERROR_CONST 3;
#define VELOCITY_CONST 5;
#define DEPTH_ERROR_CONST 5;

class AgentManagerA;
class CaptainAgent;


class PreMotorComplex : public SubmarineAgent {

public:

  PreMotorComplex(nub::soft_ref<SubController> motor, /*rutz::shared_ptr<PreFrontalCortexAgent> pfc,*/ std::string name);
  PreMotorComplex(std::string name);
  ~PreMotorComplex();

  inline void setCaptainAgent
  (rutz::shared_ptr<CaptainAgent> pfc);


//   //! starts the PreMotorComplex
//   void start();
//   //! stops everything
//   inline void stop() { itsStop = true; itsInterrupt = true; }


//   inline bool getMoveDone() { return isMoveDone; }
//   //! stop all movements. stay at current depth and heading, using PID
//   inline void msgHalt() { itsInterrupt = true; LINFO("halt called"); }
//   //! run ComplexMovement a, if there is a ComplexMovement already running,
//   //! will cause interrupt and start new movement
//   void run(rutz::shared_ptr<ComplexMovement> a);

//   inline void test() { LINFO("you called me"); }



//   // world/sensor moves
//   // turn to a goal absolute angle (heading)
//   // NOTE: will this be in radians?
//   void turn(const SensorInput goal);
//   // move forward/reverse in reference to goal distance (meters)
//   // forward: positive, reverse: negative
//   void forward(const SensorInput goal);
//   // dive/surface to a goal depth in reference to goal depth (meters)
//   // dive: positive, surface: negative
//   void dive(const SensorInput goal);
//   // types of searches
//   void sweep(const SensorInput goal);

//   void wait(const SensorInput goal);
//   void startWait(const SensorInput goal);

//   // vision moves
//   // turn to a goal pixel angle, or turn to a goal pixel point
//   void vis_turn(const VisionInput& goal);
//   // move forward/reverse to a goal pixel point
//   void vis_forward(const VisionInput& goal);
//   // dive/surface to a goal pixel point
//   void vis_dive(const VisionInput& goal);
//   // center on a pixel point
//   void vis_center(const VisionInput& goal);
//   // lost image retract search
//   void vis_lost(const VisionInput& goal);




private:


//   void run();



//   Angle itsHeading;
//   Angle itsPitch;
//   Angle itsRoll;
//   float itsTemp;
//   float itsInternalPressure;
//   float itsDepth;

//   //possibly its position relative to the pinger;
//   Point3D itsAttitude;

//   rutz::shared_ptr<ComplexMovement> itsCurrentMove;
//   rutz::shared_ptr<ComplexMovement> itsNextMove;

//   nub::soft_ref<SubController> itsPrimitiveMotor;
   rutz::shared_ptr<CaptainAgent> itsCaptain;

//   bool itsInterrupt;
//   bool itsStop;
   std::string itsName;
//   int surfaceDepth;
//   bool isMoveDone;
};


// ######################################################################
inline void PreMotorComplex::setCaptainAgent
(rutz::shared_ptr<CaptainAgent> pfc)
{
  itsCaptain = pfc;
}

#endif