Force.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc/gui/details/traits.h>
#include <mc_rtc/gui/elements.h>
#include <mc_rtc/gui/types.h>
 
namespace mc_rtc::gui
{
 
namespace details
{
 
template<typename GetForce, typename GetSurface>
struct ForceROImpl : public Element
{
  static constexpr auto type = Elements::Force;
 
  ForceROImpl(const std::string & name, const ForceConfig & config, GetForce get_force_fn, GetSurface get_surface_fn)
  : Element(name), get_force_fn_(get_force_fn), get_surface_fn_(get_surface_fn), config_(config)
  {
    static_assert(details::CheckReturnType<GetForce, sva::ForceVecd>::value,
                  "Force element force callback must return an sva::ForceVecd");
    static_assert(details::CheckReturnType<GetSurface, sva::PTransformd>::value,
                  "Force element surface callback must return an sva::PTransformd");
  }
 
  static constexpr size_t write_size() { return Element::write_size() + 3 + ForceConfig::write_size(); }
 
  void write(mc_rtc::MessagePackBuilder & builder, bool ro = true)
  {
    Element::write(builder);
    builder.write(get_force_fn_());
    builder.write(get_surface_fn_());
    builder.write(ro);
    config_.write(builder);
  }
 
private:
  GetForce get_force_fn_;
  GetSurface get_surface_fn_;
  ForceConfig config_;
};
 
template<typename GetForce, typename GetSurface, typename SetForce>
struct ForceImpl : public ForceROImpl<GetForce, GetSurface>
{
  static constexpr auto type = Elements::Force;
  using ForceRO = ForceROImpl<GetForce, GetSurface>;
 
  ForceImpl(const std::string & name,
            const ForceConfig & config,
            GetForce get_force_fn,
            SetForce set_force_fn,
            GetSurface get_surface_fn)
  : ForceRO(name, config, get_force_fn, get_surface_fn), set_force_fn_(set_force_fn)
  {
  }
 
  void write(mc_rtc::MessagePackBuilder & builder) { ForceRO::write(builder, false); }
 
  bool handleRequest(const mc_rtc::Configuration & data)
  {
    set_force_fn_(data);
    return true;
  }
 
private:
  SetForce set_force_fn_;
};
 
} // namespace details
  //
template<typename GetForce, typename GetSurface>
auto Force(const std::string & name, GetForce get_force_fn, GetSurface get_surface_fn)
{
  return details::ForceROImpl(name, {}, get_force_fn, get_surface_fn);
}
 
template<typename GetForce, typename GetSurface>
auto Force(const std::string & name, const ForceConfig & config, GetForce get_force_fn, GetSurface get_surface_fn)
{
  return details::ForceROImpl(name, config, get_force_fn, get_surface_fn);
}
 
template<typename GetForce, typename GetSurface, typename SetForce>
auto Force(const std::string & name, GetForce get_force_fn, SetForce set_force_fn, GetSurface get_surface_fn)
{
  return details::ForceImpl(name, ForceConfig{}, get_force_fn, set_force_fn, get_surface_fn);
}
 
template<typename GetForce, typename GetSurface, typename SetForce>
auto Force(const std::string & name,
           const ForceConfig & config,
           GetForce get_force_fn,
           SetForce set_force_fn,
           GetSurface get_surface_fn)
{
  return details::ForceImpl(name, config, get_force_fn, set_force_fn, get_surface_fn);
}
 
} // namespace mc_rtc::gui