simulator.h

#ifndef SIMULATOR_H
#define SIMULATOR_H

#include <mutex>
#include <QVariantMap>
#include <QVariantList>
#include <QVector2D>
#include <QJSValue>

//! A light wrapper of Aseba-enabled simulated Thymio in Enki
class Simulator: public QObject
{
	Q_OBJECT

signals:
	//! The simulation is finished.
	void simulationCompleted(const QVariantList& log) const;
	//! The simulation has messages to print
	void notify(const QString& level, const QString& description, const QStringList& arguments) const;

public slots:
	//! Run the simulation.
	//! If there is an error in the arguments, it is returned, otherwise "" is returned.
	QString runProgram(const QVariantMap& scenario, const QVariantMap& events, const QString& source, QJSValue callback = QJSValue()) const;
};

namespace Enki
{
    template<typename AsebaRobot>
    class DirectlyConnected;
	class AsebaThymio2;
	typedef DirectlyConnected<AsebaThymio2> DirectAsebaThymio2;
}

//! A light wrapper of a Thymio in the simulator
class ThymioRobotInterface: public QObject
{
	Q_OBJECT
	Q_PROPERTY(QVector2D position READ position)
	Q_PROPERTY(double orientation READ orientation)
	Q_PROPERTY(QVariantList horizontalSensors READ horizontalSensors)
	Q_PROPERTY(QVariantList groundSensors READ groundSensors)
	Q_PROPERTY(QVariantList nativeCalls READ nativeCalls)

public:
	ThymioRobotInterface(Enki::DirectAsebaThymio2& thymio);

	QVector2D position() const;
	double orientation() const;
	QVariantList horizontalSensors() const;
	QVariantList groundSensors() const;
	QVariantList nativeCalls() const;

	Q_INVOKABLE void tap();
	Q_INVOKABLE void clap();
	Q_INVOKABLE void pressBackwardButton();
	Q_INVOKABLE void releaseBackwardButton();
	Q_INVOKABLE void pressLeftButton();
	Q_INVOKABLE void releaseLeftButton();
	Q_INVOKABLE void pressCenterButton();
	Q_INVOKABLE void releaseCenterButton();
	Q_INVOKABLE void pressForwardButton();
	Q_INVOKABLE void releaseForwardButton();
	Q_INVOKABLE void pressRightButton();
	Q_INVOKABLE void releaseRightButton();

protected:
	Enki::DirectAsebaThymio2& thymio;
};

#endif // SIMULATOR_H