rosaria/Legacy/Aria/ArNetworking/include/ArServerInfoRobot.h

#ifndef ARSERVERROBOTINFO_H
#define ARSERVERROBOTINFO_H

#include "Aria.h"
#include "ArServerBase.h"

class ArServerClient;

/** Server component providing basic robot status information to clients.
 * This service accepts the following data requests: 
 * <ul>
 *  <li><code>update</code></li>
 *  <li><code>physicalInfo</code></li>
 *  <li><code>batteryInfo</code></li>
 *  <li><code>activityTimeInfo</code></li>
 * </ul>
 *
 *  For bandwidth savings you should use <code>updateNumbers</code>
 * and <code>updateStrings</code> instead of <code>update</code>.
 *
 * The <code>update</code> request returns data regarding the current
 * state of the robot. 
 * It replies with the following data packet:
 * <ol>
 *  <li>Status (Null-terminated string)</li>
 *  <li>Mode (Null-terminated string)</li>
 *  <li>Battery voltage (times 10) (2 Byte integer)</li>
 *  <li>X position (4 byte floating point number)</li>
 *  <li>Y position (4 byte floating point number)</li>
 *  <li>Theta (2-byte floating point number)</li>
 *  <li>Forward velocity (2-byte integer)</li>
 *  <li>Rotation velocity (2-byte integer)</li>
 * </ol>
 *
 * The <code>updateNumbers</code> request returns data regarding the current
 * state of the robot. 
 * It replies with the following data packet:
 * <ol>
 *  <li>Battery voltage (times 10) (2 Byte integer)</li>
 *  <li>X position (4 byte floating point number)</li>
 *  <li>Y position (4 byte floating point number)</li>
 *  <li>Theta (2-byte floating point number)</li>
 *  <li>Forward velocity (2-byte integer)</li>
 *  <li>Rotation velocity (2-byte integer)</li>
 * </ol>
 *
 * The <code>updateStrings</code> request broadcasts data regarding
 * the current state of the robot.  Request this at -1 to get the
 * broadcasts and an initial packet with the inital data.
 * It replies with the following data packet:
 * <ol>
 *  <li>Status (Null-terminated string)</li>
 *  <li>Mode (Null-terminated string)</li>
 *</ol>
 *
 * The <code>physicalInfo</code> request returns data regarding the physical characteristics of
 * the robot.  This information does not change during the robot execution.  It replies with the 
 * following data packet:
 * <ol>
 *  <li>Robot type (Null-terminated string)</li>
 *  <li>Robot sub-type (Null-terminated string)</li>
 *  <li>Robot width in mm (2 byte integer)</li>
 *  <li>Robot front length - mm from center of rotation to front of robot (2 byte integer)</li>
 *  <li>Robot rear length - mm from center of rotation to back of robot (2 byte integer)</li>
 * </ol>
 *
 * The <code>batteryInfo</code> request replies with the following data packet:
 * <ol>
 *  <li>Warning voltage (double)</li>
 *  <li>Shutdown voltage (double)</li>
 * </ol>
 *
 * The <code>activityTimeInfo</code> request replies with the following data packet:
 * <ol>
 *   <li>Sec since - the ArServerMode::getActiveModeActivityTimeSecSince value (4-byte int)</li>
 * </ol>
 *
 * These requests are in the <code>RobotInfo</code> command group.
 */

class ArServerInfoRobot
{
public:
  /// Constructor
  AREXPORT ArServerInfoRobot(ArServerBase *server, ArRobot *robot);
  /// Destructor
  AREXPORT virtual ~ArServerInfoRobot();
  /// The function that sends updates about the robot off to the client
  AREXPORT void update(ArServerClient *client, ArNetPacket *packet);
  /// The function that sends updates about the robot off to the client
  AREXPORT void updateNumbers(ArServerClient *client, ArNetPacket *packet);
  /// The function that sends updates about the robot off to the client
  AREXPORT void updateStrings(ArServerClient *client, ArNetPacket *packet);
  /// The function that sends battery info about the robot off to the client
  AREXPORT void batteryInfo(ArServerClient *client, ArNetPacket *packet);
  /// The function that sends information about the physical robot 
  AREXPORT void physicalInfo(ArServerClient *client, ArNetPacket *packet);
  /// The function that sends information about the time that the server mode was last active 
  AREXPORT void activityTimeInfo(ArServerClient *client, ArNetPacket *packet);
protected:
  ArServerBase *myServer;
  ArRobot *myRobot;

  void userTask(void);
  
  std::string myStatus;
  std::string myExtendedStatus;
  std::string myMode;
  std::string myOldStatus;
  std::string myOldExtendedStatus;
  std::string myOldMode;

  
  ArFunctor2C<ArServerInfoRobot, ArServerClient *, ArNetPacket *> myUpdateCB;
  ArFunctor2C<ArServerInfoRobot, ArServerClient *, ArNetPacket *> myUpdateNumbersCB;
  ArFunctor2C<ArServerInfoRobot, ArServerClient *, ArNetPacket *> myUpdateStringsCB;
  ArFunctor2C<ArServerInfoRobot, ArServerClient *, ArNetPacket *> myBatteryInfoCB;
  ArFunctor2C<ArServerInfoRobot, ArServerClient *, ArNetPacket *> myPhysicalInfoCB;
  ArFunctor2C<ArServerInfoRobot, ArServerClient *, ArNetPacket *> myActivityTimeInfoCB;
  ArFunctorC<ArServerInfoRobot> myUserTaskCB;
};

#endif