dxlib_gui_robot_control.h

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#ifndef DESIGNLAB_DXLIB_GUI_ROBOT_CONTROL_H_
#define DESIGNLAB_DXLIB_GUI_ROBOT_CONTROL_H_
 
#include <map>
#include <memory>
#include <string>
#include <vector>
 
#include <boost/thread.hpp>
 
#include "abstract_dxlib_gui.h"
#include "dxlib_camera.h"
#include "math_vector3.h"
#include "interface_dxlib_node_setter.h"
#include "interface_hexapod_coordinate_converter.h"
#include "interface_hexapod_joint_calculator.h"
#include "interface_hexapod_posture_validator.h"
#include "serial_communication_thread.h"
#include "simple_button.h"
 
 
namespace designlab
{
 
class DxlibGuiRobotControl final :
    public AbstractDxlibGui,
    public IDxlibNodeSetter
{
public:
    DxlibGuiRobotControl() = delete;  
 
    DxlibGuiRobotControl(
        int window_x, int window_y,
        const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr,
        const std::shared_ptr<const IHexapodJointCalculator>& calculator_ptr,
        const std::shared_ptr<const IHexapodPostureValidator>& checker_ptr);
 
    ~DxlibGuiRobotControl();
 
 
    void Update() override;
 
    void Draw() const override;
 
 
    void SetNode(const RobotStateNode& node) override
    {
        node_ = node;
    }
 
private:
    static constexpr int kWidth{ 400 };  
    static constexpr int kHeight{ 600 };  
    static constexpr int kTitleBarHeight{ 32 };  
 
 
    void DrawString() const;
 
    bool IsInWindow() const;
 
    std::string GetSerialData() const;
 
    const int window_x_;  
    const int window_y_;  
 
    std::shared_ptr<const IHexapodCoordinateConverter> converter_ptr_;
 
    std::shared_ptr<const IHexapodJointCalculator> calculator_ptr_;
 
    std::shared_ptr<const IHexapodPostureValidator> checker_ptr_;
 
    SerialCommunicationThread serial_communication_;  
 
    std::unique_ptr<boost::thread> serial_communication_thread_ptr_;
 
    RobotStateNode node_;  
    bool auto_update_flag_{ false };  
    int counter_{ 0 };  
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_DXLIB_GUI_ROBOT_CONTROL_H_