194 lines
7.4 KiB
C
194 lines
7.4 KiB
C
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#ifndef ARSERVERHANDLERMAPPING_H
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#define ARSERVERHANDLERMAPPING_H
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#include "Aria.h"
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#include "ArServerBase.h"
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#include "ArServerHandlerCommands.h"
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#include "ArTempDirectoryHelper.h"
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/// Class that handles the starting, stopping, and status of mapping
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class ArServerHandlerMapping
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{
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public:
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/// Constructor
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AREXPORT ArServerHandlerMapping(ArServerBase *server, ArRobot *robot,
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ArLaser *laser,
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const char *baseDirectory = "",
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const char *tempDirectory = "",
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bool useReflectorValues = false,
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ArLaser *laser2 = NULL,
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const char *sickSuffix = NULL,
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const char *sick2Suffix = NULL,
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std::list<ArLaser *> *extraLasers = NULL);
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/// Deconstructor
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AREXPORT virtual ~ArServerHandlerMapping();
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/// Starts a new map unless ones already made
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AREXPORT void serverMappingStart(ArServerClient *client,
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ArNetPacket *packet);
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/// Ends a map
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AREXPORT void serverMappingEnd(ArServerClient *client,
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ArNetPacket *packet);
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/// Gets the mapping status
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AREXPORT void serverMappingStatus(ArServerClient *client,
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ArNetPacket *packet);
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/// Returns if we're mapping or not
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AREXPORT bool isMapping(void);
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/// Forces a reading to be taken
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AREXPORT void forceReading(void);
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/// Gets the filename we're using (make sure the robot's locked)
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AREXPORT const char *getFileName(void);
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/// Gets the mapname we're using (make sure the robot's locked)
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AREXPORT const char *getMapName(void);
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/// Adds the simple commands to the simple command handler passed in
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AREXPORT void addSimpleCommands(ArServerHandlerCommands *handlerCommands);
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/// Adds a loop start to the log
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AREXPORT void simpleLoopStart(ArArgumentBuilder *arg);
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/// Adds a loop end to the log
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AREXPORT void simpleLoopEnd(ArArgumentBuilder *arg);
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/// Adds a string for adding to the log when we start
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AREXPORT void addStringForStartOfLogs(
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const char *str, ArListPos::Pos position = ArListPos::LAST);
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/// Removes a string for adding to the log when we start
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AREXPORT void remStringForStartOfLogs(const char *str);
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/// Adds a tag to the logg (has robot pose and stuff) (make sure the
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/// robot's locked)
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AREXPORT void addTagToLog(const char *str);
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/// Adds an info to the log (has no robot pose) (make sure the
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/// robot's locked)
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AREXPORT void addInfoToLog(const char *str);
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/// Adds a new type of location data to the logger
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AREXPORT bool addLocationData(
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const char *name,
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ArRetFunctor3<int, ArTime, ArPose *, ArPoseWithTime *> *functor);
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// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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// Callback Methods
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//
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// The mapping callbacks are invoked in the order in which they appear
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// in this header file. Namely:
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// 1. MappingStart
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// 2. MappingBegun (this is logically "mapping started")
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// 3. MappingEnd
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// 4. MappingEnded
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// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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/// Adds a callback for the start of mapping
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AREXPORT void addMappingStartCallback(
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ArFunctor *functor, ArListPos::Pos position = ArListPos::LAST);
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/// Removes a callback for the start of mapping
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AREXPORT void remMappingStartCallback(ArFunctor *functor);
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/// Adds a callback for just after mapping has started
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AREXPORT void addMappingBegunCallback(
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ArFunctor *functor, ArListPos::Pos position = ArListPos::LAST);
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/// Removes a callback for just after mapping has started
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AREXPORT void remMappingBegunCallback(ArFunctor *functor);
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/// Adds a callback for the end of mapping
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AREXPORT void addMappingEndCallback(
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ArFunctor *functor, ArListPos::Pos position = ArListPos::LAST);
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/// Removes a callback for the end of mapping
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AREXPORT void remMappingEndCallback(ArFunctor *functor);
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/// Adds a callback that is invoked after mapping has been ended.
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AREXPORT void addMappingEndedCallback(
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ArFunctor *functor, ArListPos::Pos position = ArListPos::LAST);
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/// Removes a callback from the list invoked after mapping has been ended.
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AREXPORT void remMappingEndedCallback(ArFunctor *functor);
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/// Adds a callback to be called before moving from temp dir to base dir
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AREXPORT void addPreMoveCallback(
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ArFunctor *functor, ArListPos::Pos position = ArListPos::LAST);
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/// Removes a callback to be called before moving from temp dir to base dir
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AREXPORT void remPreMoveCallback(ArFunctor *functor);
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/// Adds a callback to be called after moving from temp dir to base dir
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AREXPORT void addPostMoveCallback(
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ArFunctor *functor, ArListPos::Pos position = ArListPos::LAST);
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/// Removes a callback to be called after moving from temp dir to base dir
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AREXPORT void remPostMoveCallback(ArFunctor *functor);
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// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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// Misc Methods
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// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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/// The packet handler for starting/stopping scans from the lcd
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AREXPORT bool packetHandler(ArRobotPacket *packet);
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/// Get location data map (mostly for internal things)
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AREXPORT const std::map<std::string, ArRetFunctor3<int, ArTime, ArPose *, ArPoseWithTime *> *,
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ArStrCaseCmpOp> *getLocationDataMap(void);
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/// A method to add the strings for the start of a log just straight to an ArMap
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AREXPORT void addStringsForStartOfLogToMap(ArMap *arMap);
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/// Returns a pointer to the optional zip file installed on this handler.
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AREXPORT ArZippable *getZipFile();
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/// Returns a pointer to a second optional zip file used to contain snapshot images.
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AREXPORT ArZippable *getSnapshotZipFile();
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/// Sets the optional zip file installed on this handler.
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AREXPORT void setZipFile(ArZippable *zipFile);
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/// Sets the optional zip file installed on this handler.
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AREXPORT void setSnapshotZipFile(ArZippable *zipFile);
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protected:
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AREXPORT std::string makeFilePathName(const char *fileName);
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ArServerBase *myServer;
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ArRobot *myRobot;
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ArLaser *myLaser;
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ArLaser *myLaser2;
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bool myUseReflectorValues;
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std::list<ArFunctor *> myMappingStartCallbacks;
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std::list<ArFunctor *> myMappingBegunCallbacks;
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std::list<ArFunctor *> myMappingEndCallbacks;
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std::list<ArFunctor *> myMappingEndedCallbacks;
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std::list<ArFunctor *> myPreMoveCallbacks;
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std::list<ArFunctor *> myPostMoveCallbacks;
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std::list<std::string> myStringsForStartOfLog;
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ArLaserLogger *myLaserLogger;
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ArLaserLogger *myLaserLogger2;
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std::string myMapName;
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std::string myFileName;
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std::string myFileName2;
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std::string mySuffix;
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std::string mySuffix2;
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std::list<ArLaser *> *myExtraLasers;
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ArTempDirectoryHelper myTempDirectoryHelper;
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/// Optional zip file in which mapping results may be saved
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ArZippable *myZipFile;
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/// Second optional zip file in which snaphots may be saved
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ArZippable *mySnapshotZipFile;
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std::map<std::string, ArRetFunctor3<int, ArTime, ArPose *,
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ArPoseWithTime *> *,
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ArStrCaseCmpOp> myLocationDataMap;
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ArFunctor2C<ArServerHandlerMapping, ArServerClient *, ArNetPacket *> myMappingStartCB;
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ArFunctor2C<ArServerHandlerMapping, ArServerClient *, ArNetPacket *> myMappingEndCB;
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ArFunctor2C<ArServerHandlerMapping, ArServerClient *, ArNetPacket *> myMappingStatusCB;
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ArServerHandlerCommands *myHandlerCommands;
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ArRetFunctor1C<bool, ArServerHandlerMapping, ArRobotPacket *> myPacketHandlerCB;
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ArFunctor1C<ArServerHandlerMapping, ArArgumentBuilder *> myLoopStartCB;
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ArFunctor1C<ArServerHandlerMapping, ArArgumentBuilder *> myLoopEndCB;
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};
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#endif // ARSERVERHANDLERMAPPING_H
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