RobotDevastation.hpp

// Authors: see AUTHORS.md at project root.
// CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
// URL: https://github.com/asrob-uc3m/robotDevastation
 
#ifndef __ROBOT_DEVASTATION_HPP__
#define __ROBOT_DEVASTATION_HPP__
 
#include <cstdio>
#include <string>
#include <sstream>
#include <iostream>
#include <vector>
 
#include <yarp/os/RFModule.h>
#include <yarp/os/ResourceFinder.h>
 
#include <yarp/dev/PolyDriver.h>
 
#include "SDLAudioManager.hpp"
#include "MentalMap.hpp"
#include "InputManager.hpp"
#include "SDLInputManager.hpp"
#include "InputEventListener.hpp"
#include "YarpNetworkManager.hpp"
#include "IRobotManager.hpp"
#include "StateMachine.hpp"
#include "ImageManager.hpp"
#include "YarpImageManager.hpp"
#include "YarpLocalImageManager.hpp"
#include "MockImageManager.hpp"
#include "ProcessorImageEventListener.hpp"
#include "SDLScreenManager.hpp"
 
//-- Game FSM
#include "StateMachine.hpp"
#include "StateMachineBuilder.hpp"
#include "InitState.hpp"
#include "GameState.hpp"
#include "DeadState.hpp"
 
namespace rd
{
 
class RobotDevastation : public yarp::os::RFModule
{
    public:
        virtual bool configure(yarp::os::ResourceFinder &rf);
 
    private:
 
        template<typename T> void getInfoFromUser(const std::string& question, T& info, const bool& no_empty=false)
        {
 
            std::string answer;
            do {
                std::printf("%s?>",question.c_str());
                std::getline(std::cin, answer);
            } while(no_empty && answer.empty());
 
            if (!answer.empty())
            {
                std::stringstream ss(answer);
                ss >> info;
            }
        }
 
        FiniteStateMachine * gameFSM;
 
        InputManager *  inputManager;
        AudioManager * audioManager;
        MentalMap * mentalMap;
        NetworkManager * networkManager;
        asrob::IRobotManager * robotManager;
        ImageManager * imageManager;
        ScreenManager * screenManager;
 
        yarp::dev::PolyDriver robotDevice;
 
        bool interruptModule();
        double getPeriod();
        bool updateModule();
 
        bool initPlayerInfo(yarp::os::ResourceFinder &rf);
        bool initSound(yarp::os::ResourceFinder &rf);
        bool initGameFSM();
        bool cleanup();
 
        //-- Player data
        int id;
        std::string name;
        int team;
        std::string robotName;
};
 
}  // namespace rd
 
#endif  // __ROBOT_DEVASTATION_HPP__