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rosaria/Legacy/Aria/include/ArMapComponents.h

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Import docker from LAB15_OLD
2021-12-16 15:07:59 +01:00
/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
/*! \file ArMapComponents.h
* \brief Contains the set of component classes used to implement Aria maps.
* \date 06/27/08
* \author K. Cunningham
*
* The ArMap class (defined in ArMap.h) is composed of several smaller
* classes that are defined in this header file. These include:
*
* - ArMapScan: An implementation of the ArMapScanInterface. This
* contains all of the data related to the sensed obstacles (i.e.
* data points and lines). An instance of this class is created
* for each scan type that is defined in the map.
*
* - ArMapObjects: An implementation of the ArMapObjectsInterface.
* This stores all of the map objects for the Aria map.
*
* - ArMapInfo: An implementation of the ArMapInfoInterface. This
* contains all of the info (ArArgumentBuilder) tags defined for
* the map, including MapInfo, TaskInfo, and RouteInfo.
*
* - ArMapSupplement: An implementation of the ArMapSupplementInterface.
* This is a repository for all of the extra data that does not fit
* into any of the above categories.
*
* - ArMapSimple: The RealSubject of the ArMap Proxy. This implements
* the ArMapInterface and is an aggregate of all of the above map
* components.
*
* The following "diagram" illustrates the basic hierarchy:
*
* <pre>
*
* ________ArMapSupplementInterface________
* ^ ^
* | ________ArMapInfoInterface________ |
* | ^ ^ |
* | | __ArMapObjectsInterface___ | |
* | | ^ ^ | |
* | | | ArMapScanInterface | | |
* | | | ^ ^ | | |
* | | | | | | | |
* ArMapInterface | | | |
* ^ (extends) | | | | (extends)
* | | | | |
* | | | | |
* ArMapSimple +----------> ArMapScan | | |
* | (contains) | | |
* +-----------> ArMapObjects | |
* | | |
* +------------------> ArMapInfo |
* | |
* +----------------> ArMapSupplement
*
* </pre>
* @see ArMapInterface
* @see ArMap
**/
#ifndef ARMAPCOMPONENTS_H
#define ARMAPCOMPONENTS_H
#include "ArMapInterface.h"
class ArMapChangeDetails;
class ArMapFileLineSet;
class ArFileParser;
class ArMD5Calculator;
// ============================================================================
// ArMapScan
// ============================================================================
/// The map data related to the sensable obstacles in the environment.
/**
* ArMapScan encapsulates the data for a particular sensor that is generated
* during the scanning process (i.e. during the creation of a .2d file).
* The class's primary attributes are the points and line segments that
* were detected during the scan. It contains methods to get and set these
* coordinates, and to read and write the data from and to a file.
* <p>
* The <code>scanType</code> parameters identify the sensor used for scanning.
* The parameter is used in the constructor, but it is generally disregarded
* in the other methods. (The method signatures are defined in
* ArMapScanInterface, which is also implemented by ArMap. The map provides
* access to the scan data for all of the sensors -- and therefore uses the
* <code>scanType</code> parameters. This interface was chosen in order
* to maintain backwards compatibility with the original map.)
* <p>
* If the scanType is specified, then it is used as a prefix to the DATA and
* LINES tags that are contained in the map file.
**/
class ArMapScan : public ArMapScanInterface
{
public:
/// Constructor
/**
* Creates a new map scan object for the specified scan type.
* @param scanType the const char * identifier of the scan; must be
* non-NULL and must not contain whitespaces
**/
AREXPORT ArMapScan(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
/// Copy constructor
AREXPORT ArMapScan(const ArMapScan &other);
/// Assignment operator
AREXPORT ArMapScan &operator=(const ArMapScan &other);
/// Destructor
AREXPORT virtual ~ArMapScan();
// --------------------------------------------------------------------------
// ArMapScanInterface Methods
// --------------------------------------------------------------------------
AREXPORT virtual const char *getDisplayString
(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual std::vector<ArPose> *getPoints
(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual std::vector<ArLineSegment> *getLines
(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual ArPose getMinPose(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual ArPose getMaxPose(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual int getNumPoints(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual bool isSortedPoints(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) const;
AREXPORT virtual void setPoints(const std::vector<ArPose> *points,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
bool isSortedPoints = false,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual ArPose getLineMinPose(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual ArPose getLineMaxPose(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual int getNumLines(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual bool isSortedLines(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) const;
AREXPORT virtual void setLines(const std::vector<ArLineSegment> *lines,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
bool isSortedLines = false,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual int getResolution(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual void setResolution(int resolution,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual void writeScanToFunctor
(ArFunctor1<const char *> *functor,
const char *endOfLineChars,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual void writePointsToFunctor
(ArFunctor2<int, std::vector<ArPose> *> *functor,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
ArFunctor1<const char *> *keywordFunctor = NULL);
AREXPORT virtual void writeLinesToFunctor
(ArFunctor2<int, std::vector<ArLineSegment> *> *functor,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
ArFunctor1<const char *> *keywordFunctor = NULL);
AREXPORT virtual bool addToFileParser(ArFileParser *fileParser);
AREXPORT virtual bool remFromFileParser(ArFileParser *fileParser);
AREXPORT virtual bool readDataPoint( char *line);
AREXPORT virtual bool readLineSegment( char *line);
AREXPORT virtual void loadDataPoint(double x, double y);
AREXPORT virtual void loadLineSegment(double x1, double y1, double x2, double y2);
// --------------------------------------------------------------------------
// Other Methods
// --------------------------------------------------------------------------
/// Resets the scan data, clearing all points and line segments
AREXPORT virtual void clear();
/// Combines the given other scan with this one.
/**
* @param other the ArMapScan * to be united with this one
* @param isIncludeDataPointsAndLines a bool set to true if the other scan's
* data points and lines should be copied to this scan; if false, then only
* the summary (bounding box, counts, etc) information is copied.
**/
AREXPORT virtual bool unite(ArMapScan *other,
bool isIncludeDataPointsAndLines = false);
/// Returns the time at which the scan data was last changed.
AREXPORT virtual ArTime getTimeChanged() const;
// TODO: Which of these need to be in the ArMapScanInterface?
/// Returns the unique string identifier of the associated scan type.
AREXPORT virtual const char *getScanType() const;
/// Returns the keyword that designates the scan's data points in the map file.
AREXPORT virtual const char *getPointsKeyword() const;
/// Returns the keyword that designates the scan's data lines in the map file.
AREXPORT virtual const char *getLinesKeyword() const;
/// Writes the scan's data points (and introductory keyword) to the given functor.
AREXPORT virtual void writePointsToFunctor
(ArFunctor1<const char *> *functor,
const char *endOfLineChars,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
/// Writes the scan's data lines (and introductory keyword) to the given functor.
AREXPORT virtual void writeLinesToFunctor
(ArFunctor1<const char *> *functor,
const char *endOfLineChars,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
/// Adds the handlers for the data points and lines keywords to the given file parser.
/**
* These handlers are "extra" because they are added after all of the summary
* keyword have been parsed.
**/
AREXPORT virtual bool addExtraToFileParser(ArFileParser *fileParser,
bool isAddLineHandler);
/// Removes the handlers for the data points and lines keywords from the given file parser.
AREXPORT virtual bool remExtraFromFileParser(ArFileParser *fileParser);
protected:
/// Writes the list of data lines to the given functor.
/**
* @param functor the ArFunctor1<const char *> * to which to write the
* data lines
* @param lines the vector of ArLineSegments to be written to the functor
* @param endOfLineChars an optional string to be appended to the end of
* each text line written to the functor
* @param scanType the unique string identifier of the scan type associated
* with the data lines
**/
AREXPORT virtual void writeLinesToFunctor
(ArFunctor1<const char *> *functor,
const std::vector<ArLineSegment> &lines,
const char *endOfLineChars,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
// Function to read the minimum pos
bool handleMinPos(ArArgumentBuilder *arg);
// Function to read the maximum pos
bool handleMaxPos(ArArgumentBuilder *arg);
// Function to read the number of points
bool handleNumPoints(ArArgumentBuilder *arg);
// Function to read whether the points are sorted
bool handleIsSortedPoints(ArArgumentBuilder *arg);
// Function to read the line minimum pos
bool handleLineMinPos(ArArgumentBuilder *arg);
// Function to read the line maximum pos
bool handleLineMaxPos(ArArgumentBuilder *arg);
// Function to read the number of lines
bool handleNumLines(ArArgumentBuilder *arg);
// Function to read whether the lines are sorted
bool handleIsSortedLines(ArArgumentBuilder *arg);
// Function to handle the resolution
bool handleResolution(ArArgumentBuilder *arg);
/// Callback to handle the Display string.
bool handleDisplayString(ArArgumentBuilder *arg);
// Function to snag the map points (mainly for the getMap over the network)
bool handlePoint(ArArgumentBuilder *arg);
// Function to snag the line segments (mainly for the getMap over the network)
bool handleLine(ArArgumentBuilder *arg);
/// Adds the specified argument handler to the given file parser.
bool addHandlerToFileParser(ArFileParser *fileParser,
const char *keyword,
ArRetFunctor1<bool, ArArgumentBuilder *> *handler);
/// Returns the keyword prefix for this scan type.
const char *getKeywordPrefix() const;
/// Parses a pose from the given arguments.
bool parsePose(ArArgumentBuilder *arg,
const char *keyword,
ArPose *poseOut);
/// Parses an integer from the given text line.
bool parseNumber(char *line,
size_t lineLen,
size_t *charCountOut,
int *numOut) const;
/// Parses whitespace from the given text line.
bool parseWhitespace(char *line,
size_t lineLen,
size_t *charCountOut) const;
private:
/// Constant appended to the end of each scan data text line.
static const char *EOL_CHARS;
protected:
/// The unique string identifier of this scan type.
std::string myScanType;
/// Whether this is a special summary of the other scans.
bool myIsSummaryScan;
/// The prefix prepended to the output log file messages.
std::string myLogPrefix;
/// The prefix prepended to the map file keywords (e.g. DATA and LINES)
std::string myKeywordPrefix;
/// The keyword that designates this scan's data points in the map file.
std::string myPointsKeyword;
/// The keyword that designates this scan's data lines in the map file.
std::string myLinesKeyword;
/// Time that this scan data was last modified.
ArTime myTimeChanged;
/// Displayable text for this scan type.
std::string myDisplayString;
/// Number of data points in the scan.
int myNumPoints;
/// Number of data lines in the scan.
int myNumLines;
/// Resolution of the data points (in mm).
int myResolution;
/// Maximum x/y values of all of the data points in the scan.
ArPose myMax;
/// Minimum x/y values of all of the data points in the scan.
ArPose myMin;
/// Maximum x/y values of all of the data lines in the scan.
ArPose myLineMax;
/// Minimum x/y values of all of the data lines in the scan.
ArPose myLineMin;
/// Whether the data points in myPoints have been sorted in ascending order.
bool myIsSortedPoints;
/// Whether the data lines in myLines have been sorted in ascending order.
bool myIsSortedLines;
/// List of data points contained in this scan data.
std::vector<ArPose> myPoints;
/// List of data lines contained in this scan data.
std::vector<ArLineSegment> myLines;
/// Callback to parse the minimum poise from the map file.
ArRetFunctor1C<bool, ArMapScan, ArArgumentBuilder *> myMinPosCB;
/// Callback to parse the maximum pose from the map file.
ArRetFunctor1C<bool, ArMapScan, ArArgumentBuilder *> myMaxPosCB;
/// Callback to parse whether the points in the map file have been sorted.
ArRetFunctor1C<bool, ArMapScan, ArArgumentBuilder *> myIsSortedPointsCB;
/// Callback to parse the number of data points in the map file.
ArRetFunctor1C<bool, ArMapScan, ArArgumentBuilder *> myNumPointsCB;
/// Callback to parse the minimum line pose from the map file.
ArRetFunctor1C<bool, ArMapScan, ArArgumentBuilder *> myLineMinPosCB;
/// Callback to parse the maximum line pose from the map file.
ArRetFunctor1C<bool, ArMapScan, ArArgumentBuilder *> myLineMaxPosCB;
/// Callback to parse whether the lines in the map file have been sorted.
ArRetFunctor1C<bool, ArMapScan, ArArgumentBuilder *> myIsSortedLinesCB;
/// Callback to parse the number of data lines in the map file.
ArRetFunctor1C<bool, ArMapScan, ArArgumentBuilder *> myNumLinesCB;
/// Callback to parse the resolution in the map file.
ArRetFunctor1C<bool, ArMapScan, ArArgumentBuilder *> myResolutionCB;
/// Callback to parse the displayable text for this scan type.
ArRetFunctor1C<bool, ArMapScan, ArArgumentBuilder *> myDisplayStringCB;
/// Callback to parse a data point.
ArRetFunctor1C<bool, ArMapScan, ArArgumentBuilder *> myPointCB;
/// Callback to parse a data line.
ArRetFunctor1C<bool, ArMapScan, ArArgumentBuilder *> myLineCB;
}; // end class ArMapScan
// ============================================================================
// ArMapObjects
// ============================================================================
/// The collection of map objects that are contained in an Aria map.
/**
* ArMapObjects contains a list of objects defined in an Aria map. There are
* two basic classes of objects: user-defined objects such as goals and
* forbidden areas; and, special data objects that are usually automatically
* generated during the scanning process.
**/
class ArMapObjects : public ArMapObjectsInterface
{
public :
/// Default keyword that prefixes each map object line in the map file
static const char *DEFAULT_KEYWORD;
/// Constructor
/**
* @param keyword the char * keyword that prefixes each map object line in
* the map file
**/
AREXPORT ArMapObjects(const char *keyword = "Cairn:");
/// Copy constructor
AREXPORT ArMapObjects(const ArMapObjects &other);
/// Assignment operator
AREXPORT ArMapObjects &operator=(const ArMapObjects &other);
/// Destructor
AREXPORT virtual ~ArMapObjects();
// ---------------------------------------------------------------------------
// ArMapObjectsInterface Methods
// ---------------------------------------------------------------------------
AREXPORT virtual ArMapObject *findFirstMapObject(const char *name,
const char *type,
bool isIncludeWithHeading = false);
AREXPORT virtual ArMapObject *findMapObject(const char *name,
const char *type = NULL,
bool isIncludeWithHeading = false);
AREXPORT virtual std::list<ArMapObject *> findMapObjectsOfType
(const char *type,
bool isIncludeWithHeading = false);
AREXPORT virtual std::list<ArMapObject *> *getMapObjects(void);
AREXPORT virtual void setMapObjects(const std::list<ArMapObject *> *mapObjects,
bool isSortedObjects = false,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT void writeObjectListToFunctor(ArFunctor1<const char *> *functor,
const char *endOfLineChars);
// ---------------------------------------------------------------------------
// Other Methods
// ---------------------------------------------------------------------------
/// Clears the map objects and deletes them.
AREXPORT virtual void clear();
/// Adds the keyword and handler for the map objects to the given file parser.
AREXPORT virtual bool addToFileParser(ArFileParser *fileParser);
/// Removes the keyword and handler for the map objects from the given file parser.
AREXPORT virtual bool remFromFileParser(ArFileParser *fileParser);
/// Returns the time at which the map objects were last changed.
AREXPORT virtual ArTime getTimeChanged() const;
protected:
// Function to handle the cairns
bool handleMapObject(ArArgumentBuilder *arg);
/// Sorts the given list of map objects in order of increasing object pose.
void sortMapObjects(std::list<ArMapObject *> *mapObjects);
/// Writes the map objects to the given ArMapFileLineSet.
void createMultiSet(ArMapFileLineSet *multiSet);
/// Writes the given ArMapFileLineSet to the output log with the specified prefix.
void logMultiSet(const char *prefix,
ArMapFileLineSet *multiSet);
protected:
/// Time at which the map objects were last changed.
ArTime myTimeChanged;
/// Whether the myMapObjects list has been sorted in increasing (pose) order.
bool myIsSortedObjects;
/// Keyword that prefixes each map object in the map file.
std::string myKeyword;
/// List of map objects contained in the Aria map.
std::list<ArMapObject *> myMapObjects;
/// Callback to parse the map object from the map file.
ArRetFunctor1C<bool, ArMapObjects, ArArgumentBuilder *> myMapObjectCB;
}; // end class ArMapObjects
// ============================================================================
// ArMapInfo
// ============================================================================
/// A container for the various "info" tags in an Aria map.
/**
* ArMapInfo is an implementation of ArMapInfoInterface that provides access
* to a collection of "info" arguments (such as MapInfo and RouteInfo). An Aria
* map may have one or more categories of info, each implemented by an ordered
* list of ArArgumentBuilder's.
*
* Info types are currently identified by a unique integer. The default types
* are defined in ArMapInfoInterface::InfoType, but applications may define
* additional types. (See ArMapInfo::ArMapInfo(int*, char**, size_t))
**/
class ArMapInfo : public ArMapInfoInterface
{
public:
/// Contructor
/**
* @param infoNameList an array of the char * keywords for each of the
* standard ArMapInfo::InfoType's; if NULL, then the default keywords are
* used
* @param infoNameCount the size_t length of the infoNameList array
* @param keywordPrefix optional prefix to add to keywords.
**/
AREXPORT ArMapInfo(const char **infoNameList = NULL,
size_t infoNameCount = 0,
const char *keywordPrefix = NULL);
/// Copy contructor
AREXPORT ArMapInfo(const ArMapInfo &other);
/// Assignment operator
AREXPORT ArMapInfo &operator=(const ArMapInfo &other);
/// Destructor
AREXPORT virtual ~ArMapInfo();
// ---------------------------------------------------------------------------
// ArMapInfoInterface Methods
// ---------------------------------------------------------------------------
AREXPORT virtual std::list<ArArgumentBuilder *> *getInfo(const char *infoName);
AREXPORT virtual std::list<ArArgumentBuilder *> *getInfo(int infoType);
AREXPORT virtual std::list<ArArgumentBuilder *> *getMapInfo(void);
AREXPORT virtual int getInfoCount() const;
AREXPORT virtual std::list<std::string> getInfoNames() const;
AREXPORT virtual bool setInfo(const char *infoName,
const std::list<ArArgumentBuilder *> *infoList,
ArMapChangeDetails *changeDetails);
AREXPORT virtual bool setInfo(int infoType,
const std::list<ArArgumentBuilder *> *infoList,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual bool setMapInfo(const std::list<ArArgumentBuilder *> *mapInfo,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual const char *getInfoName(int infoType);
AREXPORT virtual void writeInfoToFunctor(ArFunctor1<const char *> *functor,
const char *endOfLineChars);
// ---------------------------------------------------------------------------
// Other Methods
// ---------------------------------------------------------------------------
/// Clears all info arguments and deletes them.
AREXPORT virtual void clear();
/// Adds handlers for all of the info types to the given file parser.
AREXPORT virtual bool addToFileParser(ArFileParser *fileParser);
/// Removes handlers for all of the info types from the given file parser.
AREXPORT virtual bool remFromFileParser(ArFileParser *fileParser);
/// Returns the time at which the info were last changed.
AREXPORT virtual ArTime getTimeChanged() const;
protected:
/// Processes the given argument for the specified info.
bool handleInfo(ArArgumentBuilder *arg);
/// Give ArMapSimple access to the createMultiSet() and setChanged() methods
friend class ArMapSimple;
/// Writes the specified info arguments to the given ArMapFileLineSet.
/**
* @param infoName unique identifier for the info to be written
* @param multiSet the ArMapFileLineSet * to which to write the info;
* must be non-NULL
* @param changeDetails the ArMapChangeDetails * that specifies the
* parent/child relationship amongst info lines
* @see ArMapChangeDetails::isChildArg
**/
void createMultiSet(const char *infoName,
ArMapFileLineSet *multiSet,
ArMapChangeDetails *changeDetails);
/// Basically updates the timeChanged to now.
void setChanged();
/// Populates this object with the default info names / keywords
void setDefaultInfoNames();
protected:
struct ArMapInfoData {
ArMapInfo *myParent;
int myType;
std::string myKeyword;
std::list<ArArgumentBuilder *> myInfo;
ArRetFunctor1C<bool, ArMapInfo, ArArgumentBuilder *> *myInfoCB;
ArMapInfoData(ArMapInfo *parent,
const char *name = NULL,
int type = -1);
~ArMapInfoData();
ArMapInfoData(ArMapInfo *parent,
const ArMapInfoData &other);
ArMapInfoData &operator=(const ArMapInfoData &other);
}; // end struct ArMapInfoData
typedef std::map<std::string, ArMapInfoData *, ArStrCaseCmpOp> ArInfoNameToDataMap;
AREXPORT ArMapInfoData *findData(const char *infoName);
AREXPORT ArMapInfoData *findDataByKeyword(const char *keyword);
/// Time at which the info was last changed
ArTime myTimeChanged;
// Sigh... In retrospect, this should have been structured differently
// and we probably should've used a string for the info identifier...
/// Number of info types contained in this collection
int myNumInfos;
std::string myPrefix;
std::map<int, std::string> myInfoTypeToNameMap;
ArInfoNameToDataMap myInfoNameToDataMap;
std::map<std::string, std::string, ArStrCaseCmpOp> myKeywordToInfoNameMap;
}; // end class ArMapInfo
// ============================================================================
// ArMapSupplement
// ============================================================================
/// Supplemental data associated with an Aria map.
/**
* ArMapSupplement is a repository for extra, miscellaneous data that is
* associated with an Aria map but which does not fit neatly into any of the
* other components.
**/
class ArMapSupplement : public ArMapSupplementInterface
{
public:
/// Constructor
AREXPORT ArMapSupplement();
/// Copy constructor
AREXPORT ArMapSupplement(const ArMapSupplement &other);
/// Assignment operator
AREXPORT ArMapSupplement &operator=(const ArMapSupplement &other);
/// Destructor
AREXPORT virtual ~ArMapSupplement();
// --------------------------------------------------------------------------
// ArMapSupplementInterface Methods
// --------------------------------------------------------------------------
AREXPORT virtual bool hasOriginLatLongAlt();
AREXPORT virtual ArPose getOriginLatLong();
AREXPORT virtual double getOriginAltitude();
AREXPORT virtual void setOriginLatLongAlt(bool hasOriginLatLong,
const ArPose &originLatLong,
double altitude,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual void writeSupplementToFunctor
(ArFunctor1<const char *> *functor,
const char *endOfLineChars);
// --------------------------------------------------------------------------
// Other Methods
// --------------------------------------------------------------------------
/// Resets the map supplement to its default values.
AREXPORT virtual void clear();
/// Adds handlers for all of the supplement keywords to the given file parser.
AREXPORT virtual bool addToFileParser(ArFileParser *fileParser);
/// Removes handlers for all of the supplement keywords from the given file parser.
AREXPORT virtual bool remFromFileParser(ArFileParser *fileParser);
/// Returns the time at which the supplement data were last changed.
AREXPORT virtual ArTime getTimeChanged() const;
protected:
// Function to get the origin lat long altitude
bool handleOriginLatLongAlt(ArArgumentBuilder *arg);
private:
/// Constant appended to the end of each supplement text line.
static const char *EOL_CHARS;
protected:
/// Time at which the supplement was last changed
ArTime myTimeChanged;
/// Whether the supplement data contains latitude/longitude information for the origin
bool myHasOriginLatLongAlt;
/// The latitude/longitude of the origin; only if myHasOriginLatLongAlt is true
ArPose myOriginLatLong;
/// The altitude (in m) of the origin; only if myHasOriginLatLongAlt is true
double myOriginAltitude;
/// Callback that parses the origin latitude/longitude/altitude information
ArRetFunctor1C<bool, ArMapSupplement, ArArgumentBuilder *> myOriginLatLongAltCB;
}; // end class ArMapSupplement
// =============================================================================
// ArMapSimple
// =============================================================================
/// Comparator used to sort scan data types in a case-insensitive manner.
struct ArDataTagCaseCmpOp
{
public:
bool operator() (const std::string &s1, const std::string &s2) const
{
size_t s1Len = s1.length();
size_t s2Len = s2.length();
if (s1Len < s2Len) {
return strncasecmp(s1.c_str(), s2.c_str(), s1Len) < 0;
}
else {
return strncasecmp(s1.c_str(), s2.c_str(), s2Len) < 0;
}
}
}; // end struct ArDataTagCaseCmpOp
/// Type definition for a map of scan types to scan data.
typedef std::map<std::string, ArMapScan *, ArStrCaseCmpOp> ArTypeToScanMap;
/// Type definition for a map of data tags to scan types
typedef std::map<std::string, std::string, ArDataTagCaseCmpOp> ArDataTagToScanTypeMap;
/// Simple map that can be read from and written to a file
/**
* ArMapSimple is the real subject of the ArMap proxy. Functionally, it is identical
* to the ArMap, @b except that it is not well-suited for for loading from a file at
* runtime and therefore doesn't provide any hooks into the Aria config. In general,
* ArMap should be used instead. The exception to this rule may be in off-line
* authoring tools where error checking can be performed at a higher level.
**/
class ArMapSimple : public ArMapInterface
{
public:
/// Constructor
/**
* @param baseDirectory the name of the directory in which to search for map
* files that are not fully qualified
* @param tempDirectory the name of the directory in which to write temporary
* files when saving a map; if NULL, then the map file is written directly.
* Note that using a temp file reduces the risk that the map will be corrupted
* if the application crashes.
* @param overrideMutexName an optional name to be used for the map object's
* mutex; useful for debugging when multiple maps are active
**/
AREXPORT ArMapSimple(const char *baseDirectory = "./",
const char *tempDirectory = NULL,
const char *overrideMutexName = NULL);
/// Copy constructor
AREXPORT ArMapSimple(const ArMapSimple &other);
/// Assignment operator
AREXPORT ArMapSimple &operator=(const ArMapSimple &other);
/// Destructor
AREXPORT virtual ~ArMapSimple(void);
AREXPORT virtual void clear();
AREXPORT virtual bool set(ArMapInterface *other);
AREXPORT virtual ArMapInterface *clone();
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Scan Types Methods
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
AREXPORT virtual std::list<std::string> getScanTypes() const;
AREXPORT virtual bool setScanTypes(const std::list<std::string> &scanTypeList);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Locking / Semaphore Method
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
AREXPORT virtual int lock();
AREXPORT virtual int tryLock();
AREXPORT virtual int unlock();
// ---------------------------------------------------------------------------
// ArMapInfoInterface
// ---------------------------------------------------------------------------
AREXPORT virtual std::list<ArArgumentBuilder *> *getInfo(const char *infoName);
AREXPORT virtual std::list<ArArgumentBuilder *> *getInfo(int infoType);
AREXPORT virtual std::list<ArArgumentBuilder *> *getMapInfo(void);
AREXPORT virtual int getInfoCount() const;
AREXPORT virtual std::list<std::string> getInfoNames() const;
AREXPORT virtual bool setInfo(const char *infoName,
const std::list<ArArgumentBuilder *> *infoList,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual bool setInfo(int infoType,
const std::list<ArArgumentBuilder *> *infoList,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual bool setMapInfo(const std::list<ArArgumentBuilder *> *mapInfo,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual void writeInfoToFunctor
(ArFunctor1<const char *> *functor,
const char *endOfLineChars);
AREXPORT virtual const char *getInfoName(int infoType);
// ---------------------------------------------------------------------------
// ArMapObjectsInterface
// ---------------------------------------------------------------------------
AREXPORT virtual ArMapObject *findFirstMapObject(const char *name,
const char *type,
bool isIncludeWithHeading = false);
AREXPORT virtual ArMapObject *findMapObject(const char *name,
const char *type = NULL,
bool isIncludeWithHeading = false);
AREXPORT virtual std::list<ArMapObject *> findMapObjectsOfType
(const char *type,
bool isIncludeWithHeading = false);
AREXPORT virtual std::list<ArMapObject *> *getMapObjects(void);
AREXPORT virtual void setMapObjects(const std::list<ArMapObject *> *mapObjects,
bool isSortedObjects = false,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual void writeObjectListToFunctor(ArFunctor1<const char *> *functor,
const char *endOfLineChars);
// ---------------------------------------------------------------------------
// ArMapSupplementInterface
// ---------------------------------------------------------------------------
AREXPORT virtual bool hasOriginLatLongAlt();
AREXPORT virtual ArPose getOriginLatLong();
AREXPORT virtual double getOriginAltitude();
AREXPORT virtual void setOriginLatLongAlt
(bool hasOriginLatLong,
const ArPose &originLatLong,
double altitude,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual void writeSupplementToFunctor(ArFunctor1<const char *> *functor,
const char *endOfLineChars);
// ---------------------------------------------------------------------------
// ArMapScanInterface
// ---------------------------------------------------------------------------
AREXPORT virtual const char *getDisplayString
(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual std::vector<ArPose> *getPoints
(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual ArPose getMinPose(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual ArPose getMaxPose(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual int getNumPoints(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual bool isSortedPoints(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) const;
AREXPORT virtual void setPoints(const std::vector<ArPose> *points,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
bool isSortedPoints = false,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual std::vector<ArLineSegment> *getLines
(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual ArPose getLineMinPose(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual ArPose getLineMaxPose(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual int getNumLines(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual bool isSortedLines(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) const;
AREXPORT virtual void setLines(const std::vector<ArLineSegment> *lines,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
bool isSortedLines = false,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual int getResolution(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual void setResolution(int resolution,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual void writeScanToFunctor
(ArFunctor1<const char *> *functor,
const char *endOfLineChars,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE);
AREXPORT virtual void writePointsToFunctor
(ArFunctor2<int, std::vector<ArPose> *> *functor,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
ArFunctor1<const char *> *keywordFunctor = NULL);
AREXPORT virtual void writeLinesToFunctor
(ArFunctor2<int, std::vector<ArLineSegment> *> *functor,
const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
ArFunctor1<const char *> *keywordFunctor = NULL);
AREXPORT virtual bool addToFileParser(ArFileParser *fileParser);
AREXPORT virtual bool remFromFileParser(ArFileParser *fileParser);
AREXPORT virtual bool readDataPoint( char *line);
AREXPORT virtual bool readLineSegment( char *line);
/** Public for ArQClientMapProducer **/
AREXPORT virtual void loadDataPoint(double x, double y);
AREXPORT virtual void loadLineSegment(double x1, double y1, double x2, double y2);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Map Changed / Callback Methods
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
AREXPORT virtual void mapChanged(void);
AREXPORT virtual void addMapChangedCB(ArFunctor *functor,
int position = 50);
AREXPORT virtual void remMapChangedCB(ArFunctor *functor);
AREXPORT virtual void addPreMapChangedCB(ArFunctor *functor,
int position = 50);
AREXPORT virtual void remPreMapChangedCB(ArFunctor *functor);
AREXPORT virtual void setMapChangedLogLevel(ArLog::LogLevel level);
AREXPORT virtual ArLog::LogLevel getMapChangedLogLevel(void);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Persistence
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
AREXPORT virtual void writeToFunctor(ArFunctor1<const char *> *functor,
const char *endOfLineChars);
AREXPORT virtual void writeObjectsToFunctor(ArFunctor1<const char *> *functor,
const char *endOfLineChars,
bool isOverrideAsSingleScan = false,
const char *maxCategory = NULL);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// File I/O Methods
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
AREXPORT virtual void addPreWriteFileCB(ArFunctor *functor,
ArListPos::Pos position = ArListPos::LAST);
AREXPORT virtual void remPreWriteFileCB(ArFunctor *functor);
AREXPORT virtual void addPostWriteFileCB(ArFunctor *functor,
ArListPos::Pos position = ArListPos::LAST);
AREXPORT virtual void remPostWriteFileCB(ArFunctor *functor);
AREXPORT virtual bool readFile(const char *fileName,
char *errorBuffer = NULL,
size_t errorBufferLen = 0,
unsigned char *md5DigestBuffer = NULL,
size_t md5DigestBufferLen = 0);
AREXPORT virtual bool writeFile(const char *fileName,
bool internalCall = false,
unsigned char *md5DigestBuffer = NULL,
size_t md5DigestBufferLen = 0,
time_t fileTimestamp = -1);
#ifndef SWIG
/// @swigomit
AREXPORT virtual struct stat getReadFileStat() const;
#endif
AREXPORT virtual bool getMapId(ArMapId *mapIdOut,
bool isInternalCall = false);
AREXPORT virtual bool calculateChecksum(unsigned char *md5DigestBuffer,
size_t md5DigestBufferLen);
AREXPORT virtual const char *getBaseDirectory(void) const;
AREXPORT virtual void setBaseDirectory(const char *baseDirectory);
AREXPORT virtual const char *getTempDirectory(void) const;
AREXPORT virtual void setTempDirectory(const char *tempDirectory);
AREXPORT virtual std::string createRealFileName(const char *fileName);
AREXPORT virtual const char *getFileName(void) const;
AREXPORT virtual void setSourceFileName(const char *sourceName,
const char *fileName,
bool isInternalCall = false);
AREXPORT virtual bool refresh();
virtual void setIgnoreEmptyFileName(bool ignore);
virtual bool getIgnoreEmptyFileName(void);
virtual void setIgnoreCase(bool ignoreCase = false);
virtual bool getIgnoreCase(void);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Inactive Section
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
AREXPORT virtual ArMapInfoInterface *getInactiveInfo();
AREXPORT virtual ArMapObjectsInterface *getInactiveObjects();
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Child Objects Section
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
AREXPORT virtual ArMapObjectsInterface *getChildObjects();
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Miscellaneous
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
AREXPORT virtual ArArgumentBuilder *findMapObjectParams(const char *mapObjectName);
AREXPORT virtual bool setMapObjectParams(const char *mapObjectName,
ArArgumentBuilder *params,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT virtual std::list<ArArgumentBuilder *> *getRemainder();
AREXPORT virtual void setQuiet(bool isQuiet);
AREXPORT bool parseLine(char *line);
AREXPORT void parsingComplete(void);
AREXPORT bool isLoadingDataStarted();
AREXPORT bool isLoadingLinesAndDataStarted();
// ---------------------------------------------------------------------
/// Searches the given CairnInfo list for an entry that matches the given mapObject.
/**
* The CairnInfo list stores the parameter information (if any) for map
* objects. If a map object is removed (or activated), then the CairnInfo
* must also be updated.
* @param mapObjectName the ArMapObject for which to find the parameters
* @param cairnInfoList the list of ArArgumentBuilder *'s that contain the
* map object parameters (also may be set to the inactive section)
* @return iterator that points to the parameter information for the map
* object, or cairnInfoList.end() if not found
**/
AREXPORT static std::list<ArArgumentBuilder *>::iterator findMapObjectParamInfo
(const char *mapObjectName,
std::list<ArArgumentBuilder*> &cairnInfoList);
protected:
AREXPORT bool setInactiveInfo(const char *infoName,
const std::list<ArArgumentBuilder *> *infoList,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT void setInactiveObjects(const std::list<ArMapObject *> *mapObjects,
bool isSortedObjects = false,
ArMapChangeDetails *changeDetails = NULL);
AREXPORT void setChildObjects(const std::list<ArMapObject *> *mapObjects,
bool isSortedObjects = false,
ArMapChangeDetails *changeDetails = NULL);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
/// Callback that handles the different types of map categories (e.g. 2D-Map, 2D-Map-Ex)
/**
* This method replaces the old handle2DMap method. It determines which category
* was detected and sets the myMapCategory attribute accordingly.
* @param arg a pointer to the parsed ArArgumentBuilder; no arguments are expected
**/
bool handleMapCategory(ArArgumentBuilder *arg);
/// Callback that handles the Sources keyword
/**
* @param arg a pointer to the parsed ArArgumentBuilder; a list of string scan type
* arguments are expected
**/
bool handleSources(ArArgumentBuilder *arg);
/// Callback that handles the different types of data introductions (e.g. DATA, LINES)
/**
* This method replaces the old handleData and handleLines methods. It determines
* which keyword was detected and updates the myLoadingDataTag and myLoadingScan
* attributes accordingly.
* @param arg a pointer to the parsed ArArgumentBuilder; no arguments are expected
**/
bool handleDataIntro(ArArgumentBuilder *arg);
bool handleRemainder(ArArgumentBuilder *arg);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
/// Returns the ArMapScan for the specified scan type.
AREXPORT virtual ArMapScan *getScan(const char *scanType) const;
/// Sets up the map to contain teh specified scan types.
/**
* Any scans which are currently in the map are cleared and removed.
* This method is not virtual because it is called by the constructor.
* @param scanTypeList a list of the scan type string identifiers to be
* created; the list must be non-empty and must not contain duplicates;
* if the list contains more than one entry, then they all must be
* non-empty
* @return bool true if the scans were successfully created; false otherwise
**/
bool createScans(const std::list<std::string> &scanTypeList);
/// Adds all of the map's scan types to the current file parser.
/**
* This method calls addToFileParser() on each of the map's scans. It also
* adds handlers for each of the scans' data point and line introduction
* keywords.
* @return bool true if the scans were successfully added to the current
* file parser
**/
bool addScansToParser();
/// Removes all of the map's scan types from the current file parser.
bool remScansFromParser(bool isRemovePointsAndLinesKeywords = true);
AREXPORT void writeScanTypesToFunctor(ArFunctor1<const char *> *functor,
const char *endOfLineChars);
AREXPORT ArTime findMaxMapScanTimeChanged();
AREXPORT ArMapScan *findScanWithDataKeyword(const char *myLoadingDataTag,
bool *isLineDataTagOut);
AREXPORT void updateSummaryScan();
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
AREXPORT virtual const char *getMapCategory();
AREXPORT virtual void updateMapCategory(const char *updatedInfoName = NULL);
AREXPORT virtual bool mapInfoContains(const char *arg0Text);
AREXPORT bool isDataTag(const char *line);
AREXPORT void reset();
AREXPORT void updateMapFileInfo(const char *realFileName);
AREXPORT static int getNextFileNumber();
AREXPORT void invokeCallbackList(std::list<ArFunctor*> *cbList);
AREXPORT void addToCallbackList(ArFunctor *functor,
ArListPos::Pos position,
std::list<ArFunctor*> *cbList);
AREXPORT void remFromCallbackList(ArFunctor *functor,
std::list<ArFunctor*> *cbList);
protected:
// static const char *ourDefaultInactiveInfoNames[INFO_COUNT];
static int ourTempFileNumber;
static ArMutex ourTempFileNumberMutex;
// lock for our data
ArMutex myMutex;
std::list<std::string> myMapCategoryList;
std::string myMapCategory;
ArMD5Calculator *myChecksumCalculator;
std::string myBaseDirectory;
std::string myFileName;
struct stat myReadFileStat;
std::list<ArFunctor*> myPreWriteCBList;
std::list<ArFunctor*> myPostWriteCBList;
bool myIsWriteToTempFile;
std::string myTempDirectory;
ArMapId myMapId;
ArFileParser *myLoadingParser;
// std::string myConfigParam;
bool myIgnoreEmptyFileName;
bool myIgnoreCase;
ArMapChangedHelper *myMapChangedHelper;
/***
// things for our config
bool myConfigProcessedBefore;
char myConfigMapName[MAX_MAP_NAME_LENGTH];
***/
bool myLoadingGotMapCategory;
// TODO: Need to change for multi scans
bool myLoadingDataStarted;
bool myLoadingLinesAndDataStarted;
ArMapInfo * const myMapInfo;
ArMapObjects * const myMapObjects;
ArMapSupplement * const myMapSupplement;
std::list<std::string> myScanTypeList;
ArTypeToScanMap myTypeToScanMap;
ArMapScan * mySummaryScan;
ArDataTagToScanTypeMap myDataTagToScanTypeMap;
std::string myLoadingDataTag;
ArMapScan * myLoadingScan;
ArMapInfo * const myInactiveInfo;
ArMapObjects * const myInactiveObjects;
ArMapObjects * const myChildObjects;
std::map<std::string, ArArgumentBuilder *, ArStrCaseCmpOp> myMapObjectNameToParamsMap;
/// List of map file lines that were not recognized
std::list<ArArgumentBuilder *> myRemainderList;
ArTime myTimeMapInfoChanged;
ArTime myTimeMapObjectsChanged;
ArTime myTimeMapScanChanged;
ArTime myTimeMapSupplementChanged;
// callbacks
ArRetFunctor1C<bool, ArMapSimple, ArArgumentBuilder *> myMapCategoryCB;
ArRetFunctor1C<bool, ArMapSimple, ArArgumentBuilder *> mySourcesCB;
ArRetFunctor1C<bool, ArMapSimple, ArArgumentBuilder *> myDataIntroCB;
// Handler for unrecognized lines
ArRetFunctor1C<bool, ArMapSimple, ArArgumentBuilder *> myRemCB;
bool myIsQuiet;
bool myIsReadInProgress;
bool myIsCancelRead;
}; // end class ArMapSimple
/// ---------------------------------------------------------------------------
#endif // ARMAPCOMPONENTS_H
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