Motion.h

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#pragma once

#ifndef PLEN2_MOTION_H
#define PLEN2_MOTION_H


#include <stdint.h>

#include "JointController.h"

namespace PLEN2
{
    namespace Motion
    {
        enum
        {
            SLOT_BEGIN =  0, 
            SLOT_END   = 90  
        };

        class Header;
        class Frame;
    }
}


class PLEN2::Motion::Header
{
public:
    enum
    {
        NAME_LENGTH     = 21,

        FRAMELENGTH_MIN =  1, 
        FRAMELENGTH_MAX = 20  
    };

    static void init(Header& header);

    static bool set(uint8_t slot, const Header& header);

    static bool get(uint8_t slot, Header& header);


    uint8_t slot;              
    char    name[NAME_LENGTH]; 
    uint8_t frame_length;      

    uint8_t NON_RESERVED : 5;  
    uint8_t use_extra    : 1;  
    uint8_t use_jump     : 1;  
    uint8_t use_loop     : 1;  

    uint8_t loop_begin;        
    uint8_t loop_end;          

    uint8_t loop_count;        
    uint8_t jump_slot;         

    uint8_t stop_flags[2];
};


class PLEN2::Motion::Frame
{
public:
    enum
    {
        UPDATE_INTERVAL_MS = 32,

        FRAME_BEGIN =  0, 
        FRAME_END   = 20  
    };

    static void init(Frame& frame);

    static bool set(uint8_t slot, uint8_t index, const Frame& frame);

    static bool get(uint8_t slot, uint8_t index, Frame& frame);


    uint8_t  index;                                    
    uint16_t transition_time_ms;                       
    int16_t  joint_angle[JointController::JOINTS_SUM]; 

    /*
    uint8_t  device_value[8];                          //!< Output values.
    */
};

#endif // PLEN2_MOTION_H