shareddata.h

3D仿真组实物机器人环境下的机器人模型的设计工具。可以查看和修改现有模型的详细参数

/*
*********************************************************************************
*                            In the name of Almighty                            *
*                                                                               *
*           SharedData.h : Robocup 3D Soccer Simulation Team Zigorat            *
*                                                                               *
*  Date: 07/08/2007                                                             *
*  Author: Mahdi Hamdarsi <[e-mail]>                                  *
*  Comments: This file contains class declerations for serveral inter-thread    *
*            communication tasks                                                *
*                                                                               *
*********************************************************************************
*/

/*! \file SharedData.h
<pre>
<b>File:</b>          SharedData.h
<b>Project:</b>       Robocup Soccer Simulation Team: Zigorat
<b>Authors:</b>       Mahdi Hamdarsi
<b>Created:</b>       07/08/2007
<b>Last Revision:</b> $ID$
<b>Contents:</b>      This file contains class declerations for serveral inter-thread
               communication tasks.
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
07/08/2007       Mahdi           Initial version created
</pre>
*/

#ifndef _SHARED_DATA_
#define _SHARED_DATA_

#include <iostream>
#include <pthread.h>

#include "Geometry.h"


using namespace std;


/********************************************************************************/
/*********************************  Class TMutex  *******************************/
/********************************************************************************/

/*! This class is wrapper of a mutex to guide inter-thread data access */
class TMutex
{
  protected:
    pthread_mutex_t m_Mutex;       /*!< Mutex identifier */

  public:
         TMutex           (                                                     );

    void lock             (                                                     );
    void unlock           (                                                     );
};

/*! CommandT enumeration represents all kinds of commands that the two engines
    can send to each other */
enum CommandT
{
  CMD_ILLEGAL,
  CMD_NODE_CREATE,
  CMD_NODE_RESIZE,
  CMD_NODE_POSITION,
  CMD_NODE_RENAME,
  CMD_NODE_RESHAPE,
  CMD_NODE_MASS,
  CMD_NODE_REPARRENT,
  CMD_NODE_REMATERIAL,
  CMD_NODE_DELETE,
  CMD_NODE_MAX,

  CMD_JOINT_CREATE,
  CMD_JOINT_DELETE,
  CMD_JOINT_RETYPE,
  CMD_JOINT_REPARRENT,
  CMD_JOINT_RECHILD,
  CMD_JOINT_OBJECT,
  CMD_JOINT_ANCHOR,
  CMD_JOINT_MOTOR,
  CMD_JOINT_PERCEPTOR,
  CMD_JOINT_EFFECTOR,
  CMD_JOINT_AXIS
};


/*! TMaterial is an enumeration of all different meterial types */
enum TMaterial
{
  MAT_ILLEGAL,   /*!< Unknown material */
  MAT_RED,       /*!< Red material */
  MAT_GREEN,     /*!< Green material */
  MAT_GREY,      /*!< Grey material */
  MAT_BLUE,      /*!< Blue material */
  MAT_DARKGREY,  /*!< Dark grey material */
  MAT_WHITE,     /*!< White material */
  MAT_YELLOW     /*!< Yellow material */
};

/*! TShape is an enumeration of all kinds of shapes that a node can have */
enum TShape
{
  SHAPE_ILLEGAL,  /*!< Unknown shape*/
  SHAPE_SPHERE,   /*!< Shape is a sphere */
  SHAPE_BOX,      /*!< Shape is a box */
  SHAPE_CYLINDER, /*!< Shape is a cylinder */
  SHAPE_CAPSULE,  /*!< Shape is a capsule */
};

/*! TJoint is an enumeration to represent types of joints */
enum TJoint
{
  JOINT_ILLEGAL,  /*!< Unknown joint type */
  JOINT_FIXED,    /*!< A Fixed joint*/
  JOINT_HINGE,    /*!< A Hinge joint */
  JOINT_HINGE2,   /*!< A Hinge 2 joint */
  JOINT_UNIVERSAL /*!< A universal joint */
};

/*! TDataType is an enumeration of all possible types of storages
    that  can be used in  this framework. Currently  numbers and
    strings are supported */
enum TDataType
{
  DT_NUMBER,   /*!< Represents a number as data */
  DT_STRING,   /*!< Represents a text as data */
  DT_ILLEGAL   /*!< Represents an illegal data */
};

/********************************************************************************/
/*********************************  Class TMutex  *******************************/
/********************************************************************************/

/*! This class represents a message beween the engines */
class TMessage
{
  public:
    string      m_Name;          /*!< Name of the node or joint to change */
    int         m_ParrentIndex;  /*!< Index of parrent of node */
    CommandT    m_Command;       /*!< Command to apply */
    VecPosition m_Size;          /*!< Size of the components (for nodes) */
    VecPosition m_Position;      /*!< Position of the component */
    int         m_Shape;         /*!< Shape of the component */
    unsigned    m_Index;         /*!< Index of node or joint to edit */
    double      m_Mass;          /*!< Mass of node */
    TMaterial   m_Material;      /*!< Material of node */
    double      m_Force;         /*!< Motor force of node */
    int         m_Number;        /*!< Number of motor or axis to edit */

    // Constructor
    TMessage              (                                                     );
    void        clear     (                                                     );
};

#endif // _SHARED_DATA_