Robot.h

Go to the documentation of this file.

#ifndef ROBOT_H_
#define ROBOT_H_

#include "Box2D/Box2D.h"
#include "SFML/Graphics.hpp"
#include "SFML/Window.hpp"
#include <math.h>

#include "constants.h"
#include "Config.h"
/*----------------------TODOO
 * create a function to assign a robot to a controller after the robot has been created
 * */

enum e_state {WALK, BRIDGE};
enum side {RIGHT, LEFT};


class Robot {

public:
    Robot();
    Robot(b2World* world, config::sRobot robotParameters, double posX, double posY, double angle = 0);
    virtual ~Robot();

    void createBody(b2World* world, config::sRobot m_robotParameters, double posX, double posY, double angle = 0);

    void drawBody(sf::RenderWindow& window, double m_to_pix);
    void drawJoint(sf::RenderWindow& window, double m_to_px);
    void drawGripJoint(sf::RenderWindow& window, double m_to_px);

    void moveBodyWithMotor();
    void moveBodyWithForce();
    void moveBodyWithImpulse();

    void turnOffMotor(side s);
    void blockMotorRotation(side s);
    void allowMotorRotation(side s);
    void limitMotorRotation(side s, double limit_angle_rad);

    void setState(e_state state);
    e_state getState();

    b2Body* getBody();
    b2Body* getWheel(side s);

    b2PrismaticJointDef getJointDef(side s);

    void grip(b2Contact* contact, b2Body* otherBody, double m_to_px);
    void gripGroundFromPos();
    bool gripSide(b2Contact* contact, b2Body* otherBody, double m_to_px);


    bool contactOnGripSide(b2Contact* contact);

    void setContact(bool contact);
    bool isContact();

    void setDelay(int delay);
    int getDelay();

    bool checkGripp(side s);

    bool isGrabbed();

    //void releaseGrip(b2World* world, b2Joint* gripJointDef);

    int nbJoint(side s);
    void incrementNbJoint(side s);
    void resetNbJoint(side s);

    b2RevoluteJoint* getMotor(side s);

    void destroyBody();

    double getBodyLength();

    void setSpeed(double speed);

    bool isReady();

    bool isMoving();

    void setId(int id);

    int getId();

    b2Vec2 getPosition();

    double getAngle();

    side m_movingSide = RIGHT; //Side of the foot that is moving (active motor joint)
    bool m_ready = false; //Flag to indicate when the robot is ready to move
    bool m_moving = false; //Flag to indicate that the robot is moving (active motor)
                           //Rq: could be replaced by a test on the value of the robot angular speed
    bool m_start = true; //Flag to indicate that the robot has just been created (necessary to create the first gripper)
    bool m_pushing = false; //Flag to indicate that the robot is pushing
    bool m_isGrabbed = false; //Flag to indicate that the robot is grabbed by another robot
    double m_referenceAngle = -PI ; //Reference angle of the robot (rad) taken at the previous grip creation
    double m_referenceAngleJoint = 0 ; //Reference angle of the joint involved in the previous grip creation at the time of the creation
                                       //Currently not used but planned as a backup method
    int m_bridgeAge = 0; //Age of the stable bridge in number of iterations
    int m_age = 0; //Age of the robot in the bridge state. should be reseted when the robot leave the bridge state
    int m_pushing_delay = 0; //Pushing delay before which the robot is not able to grip if it didn't run through the limit angle (in number of iterations)

    b2PrismaticJoint* m_previousGripJoint = nullptr;
    b2PrismaticJoint* m_currentGripJoint = nullptr;


private:

    double m_angularSpeed = 2*PI; //Angular speed of the robot's motors
    config::sRobot m_robotParameters; //Robot configuration parameters as defined in Config.h

    b2Body* m_robotBody; //Pointer on the Box2D body corresponding to the attach between the 2 feet of the robot
    b2Body* m_leftWheel; //Pointer on the Box2D body corresponding to the left foot of the robot
    b2Body* m_rightWheel; //Pointer on the Box2D body corresponding to the right foot of the robot

    b2RevoluteJoint* m_rightWheelMotor;
    b2RevoluteJoint* m_leftWheelMotor;

    e_state m_state; //State of the robot. Can be either WALK or BRIDGE
    bool m_contact = false; //Flag to indicate if the robot is involved in a contact. Reset to false once the contact has been handled

    b2PrismaticJointDef m_leftGripJointDef; //Box2D definition of the left grip joint
    b2PrismaticJointDef m_rightGripJointDef;

    int m_nbJointLeft = 0; //Number of gripper belonging to the left foot
    int m_nbJointRight = 0; //Number of gripper belonging to the right foot

    int m_delay = 60; // Delay before the robot can be ready to move (in number of iteration). 60 fps => 60 = 1s de delay

    int m_id; //Unique id of the robot

    sf::CircleShape m_shapeRight; //Box2D shape of the right foot
    sf::CircleShape m_shapeLeft; //Box2D shape of the left foot
    sf::CircleShape m_shape3; //Backup shape used to draw the joints
    sf::Vertex m_normal[2]; //Box2D shape used to draw the gripper belonging (black line)

    double m_M_TO_PX; //Copy of the scale to do the conversion from real dimensions (m) to simulated ones (pixels)
};

#endif /* ROBOT_H_ */