multirobsimu.hpp

#ifndef DDF_MULTIROBSIMU_HPP
#define DDF_MULTIROBSIMU_HPP


#include <string>
#include <iostream>
#include <fstream>

#include "robotsimu.hpp"

namespace jafar
{
  namespace ddfsimu
  {
    namespace demo
    {

      class MultiRobSimu
      {
        typedef RobotSimu::SortedBuffer      SortedBuffer;
        typedef RobotSimu::SortedBufferItem  SortedBufferItem;
      
        SortedBuffer            m_Sbuf;
        SortedBuffer::iterator  m_meas_it;
        unsigned int            m_nr_meas;
      
      public:
        MultiRobSimu() { ResetCounter(); ClearBuffer(); }
        ~MultiRobSimu() {}

        void ResetCounter() { m_meas_it = m_Sbuf.begin(); }
        void IncCounter() { m_meas_it->sensor->IncCounter(); m_meas_it++; }
        unsigned short GetCurRobID();
        unsigned short GetCurSensorType();
        unsigned short GetCurSensorID();
        int GetCurTriggerNodeID();
        time GetCurRelTime();
        void GetCurInfo(InfoContainer &meas);
        bool IsCurTriggerUpdatePOM();
        bool IsCurTriggerSyncTracker();
        void ClearBuffer() { m_nr_meas = 0;   m_Sbuf.clear(); }
        void AddRobotMeasurements(RobotSimu & rob);
        void DumpAllMeasures(std::string const& fname);
        unsigned int GetNrMeas() const { return m_nr_meas; }
         
      private:
        void DumpMeasure(unsigned short nb, MeasureItem   const& meas, std::ofstream &stream) const;

      };
    }

  } // namespace ddfsimu
} // namespace jafar
#endif