include/IPSA/viewer/instructions/NVInstructions.h

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#ifndef _INSTRUCTIONS_NV_INSTRUCTIONS_H_
#define _INSTRUCTIONS_NV_INSTRUCTIONS_H_
/*
 *  NVInstructions.h
 *  
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (for members see AUTHORS file)
 * Copyright (c) 2011, 2012, Karlsruhe Institute of Technology (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 *
 * Created by Manfred Kroehnert
 */

#include "../../IPSA.h"
#include "Instruction.h"
#include "GetBodyForce.h"
#include "GetBodyPosition.h"
#include "GetBodyRotation.h"
#include "GetBodyTorque.h"
#include "GetJointAngle.h"
#include "GetJointAngleRate.h"
#include "GetJointForce.h"
#include "GetJointPosition.h"
#include "GetJointPositionRate.h"
#include "GetJointTorque.h"
#include "RemoveJoint.h"
#include "ListAllBodies.h"
#include "ListAllJoints.h"
#include "ListBody2BodyContacts.h"
#include "ListBodyContacts.h"
#include "QuitViewer.h"
#include "ResetIPSA.h"
#include "ResetViewer.h"
#include "SaveIVFile.h"
#include "ScheduleIPSA.h"
#include "SetBodyForce.h"
#include "SetBodyRelForce.h"
#include "SetBodyVelocity.h"
#include "SetDrawShape.h"
#include "SetJointForce.h"
#include "SetJointMaxForce.h"
#include "SetJointMaxForce2.h"
#include "SetJointSpeed.h"
#include "SetJointSpeed2.h"
#include "SetJointTorque.h"
#include "SetJointTorque2.h"
#include "SetStepsizeIPSA.h"
#include "SetVerbosity.h"
#include "ShowJoints.h"
#include "StepIPSA.h"
#include "UnscheduleIPSA.h"
#include "ViewerHelp.h"
#include "NVInstructionAnswerParsing.h"

#include <map>

class IpsaViewerWidget;

class IPSA_VIEWER_IMPORT_EXPORT NVInstructions
{
public:
                static std::map<std::string, Instruction*> CreateInstructionMap(IpsaSimulator* simulator)
                {
                                std::map<std::string, Instruction*> newInstructionMap;
                                newInstructionMap.clear();
                                
                                NVInstructions::AddEntry(newInstructionMap, new ListAllBodies(simulator));
                                NVInstructions::AddEntry(newInstructionMap, new ListAllJoints(simulator));
                                NVInstructions::AddEntry(newInstructionMap, new ListBodyContacts());
                                NVInstructions::AddEntry(newInstructionMap, new ListBody2BodyContacts());
                                NVInstructions::AddEntry(newInstructionMap, new SetJointForce());
                                NVInstructions::AddEntry(newInstructionMap, new SetJointMaxForce());
                                NVInstructions::AddEntry(newInstructionMap, new SetJointMaxForce2());
                                NVInstructions::AddEntry(newInstructionMap, new SetJointTorque());
                                NVInstructions::AddEntry(newInstructionMap, new SetJointTorque2());
                                NVInstructions::AddEntry(newInstructionMap, new SetJointSpeed());
                                NVInstructions::AddEntry(newInstructionMap, new SetJointSpeed2());
                                NVInstructions::AddEntry(newInstructionMap, new SetBodyForce());
                                NVInstructions::AddEntry(newInstructionMap, new SetBodyRelForce());
                                NVInstructions::AddEntry(newInstructionMap, new SetBodyVelocity());
                                NVInstructions::AddEntry(newInstructionMap, new SetVerbosity(simulator));
                                NVInstructions::AddEntry(newInstructionMap, new ShowJoints(simulator));
                                NVInstructions::AddEntry(newInstructionMap, new GetBodyForce());
                                NVInstructions::AddEntry(newInstructionMap, new GetBodyTorque());
                                NVInstructions::AddEntry(newInstructionMap, new GetBodyPosition());
                                NVInstructions::AddEntry(newInstructionMap, new GetBodyRotation());
                                NVInstructions::AddEntry(newInstructionMap, new GetJointAngle());
                                NVInstructions::AddEntry(newInstructionMap, new GetJointAngleRate());
                                NVInstructions::AddEntry(newInstructionMap, new GetJointPosition());
                                NVInstructions::AddEntry(newInstructionMap, new GetJointPositionRate());
                                NVInstructions::AddEntry(newInstructionMap, new GetJointTorque());
                                NVInstructions::AddEntry(newInstructionMap, new GetJointForce());
                                NVInstructions::AddEntry(newInstructionMap, new RemoveJoint());
                                NVInstructions::AddEntry(newInstructionMap, new ScheduleIPSA(simulator));
                                NVInstructions::AddEntry(newInstructionMap, new UnscheduleIPSA(simulator));
                                NVInstructions::AddEntry(newInstructionMap, new StepIPSA(simulator));
                                NVInstructions::AddEntry(newInstructionMap, new SetDrawShape());
                                NVInstructions::AddEntry(newInstructionMap, new SetStepsizeIPSA(simulator));
                                NVInstructions::AddEntry(newInstructionMap, new SaveIVFile(simulator));
                                NVInstructions::AddEntry(newInstructionMap, new QuitViewer());
                                NVInstructions::AddEntry(newInstructionMap, new ResetViewer(simulator));
        NVInstructions::AddEntry(newInstructionMap, new ResetIPSA(simulator));
                                //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
                                // <help> must be the last instruction to create the helptext !
                                NVInstructions::AddEntry(newInstructionMap, new ViewerHelp(newInstructionMap));

                                return newInstructionMap;
                }

                static void AddEntry(std::map<std::string, Instruction*>& instructionMap, Instruction* newInstruction)
                {
//                              std::cout << "Registering Instruction: " << newInstruction->getCmdString() << std::endl;
                                instructionMap[newInstruction->getCmdString()] = newInstruction;
                }
};

#endif

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