MotionController.h

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#pragma once

#ifndef PLEN2_MOTION_CONTROLLER_H
#define PLEN2_MOTION_CONTROLLER_H


#include <stdint.h>

#include "JointController.h"

namespace PLEN2
{
    namespace Motion
    {
        class Header;
        class Frame;
    }

    #ifdef PLEN2_INTERPRETER_H
        class Interpreter;
    #endif

    class MotionController;
}

class PLEN2::MotionController
{
#ifdef PLEN2_INTERPRETER_H
    friend class Interpreter;
#endif

public:
    MotionController(JointController& joint_ctrl);

    bool playing();

    bool frameUpdatable();

    bool updatingFinished();

    bool nextFrameLoadable();

    void play(uint8_t slot);

    void playFrameDirectly(const Motion::Frame& frame);

    void willStop();

    void stop();

    /*
        @brief Add differences between current-frame and next-frame to current-frame
    */
    void updateFrame();

    void loadNextFrame();

    void dump(uint8_t slot);

private:
    enum { FRAMEBUFFER_LENGTH = 2 };

    void m_setupFrame(uint8_t index);
    void m_bufferingFrame();


    JointController* m_joint_ctrl_ptr;

    uint8_t m_transition_count;
    bool    m_playing;

    Motion::Header m_header;
    Motion::Frame  m_buffer[FRAMEBUFFER_LENGTH];
    Motion::Frame* m_frame_current_ptr;
    Motion::Frame* m_frame_next_ptr;

    int32_t m_current_fixed_points[JointController::JOINTS_SUM];
    int32_t m_diff_fixed_points[JointController::JOINTS_SUM];
};

#endif // PLEN2_MOTION_CONTROLLER_H