/* 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 */ /* * * * * Aria maps are implemented by a collection of classes and interfaces. The * most important is the ArMapInterface, which is defined in ArMapInterface.h * and specifies the methods that all Aria maps must provide. * * This file contains the top-level concrete implementation of the * ArMapInterface. ArMap is basically the map that is used by the robot * to navigate its environment. In addition to implementing the methods of * ArMapInterface, ArMap also provides a means of hooking into the Aria config. * When the map file name is specified in the Aria config and is changed during * runtime, ArMap loads the new file and notifies all listeners that the map * has been changed. * * In order to accomplish this, ArMap has been implemented using the Proxy * design pattern (refer to "Design Patterns", Gamma et al, 1995). The * participants are as follows: * * - Subject: ArMapInterface. The common interface for both the RealSubject * and the Proxy. It is defined in ArMapInterface.h and is actually * the combination of several smaller interfaces: ArMapScanInterface, * ArMapObjectsInterface, ArMapInfoInterface, and ArMapSupplementInterface. * * - RealSubject: ArMapSimple. The real object that the Proxy represents. * It is defined in ArMapComponents.h, and is implemented by a set of * helper classes that are also defined in that header file. * * - Proxy: ArMap. Creates and controls access to the RealSubject. ArMap * actually contains references to two ArMapSimple objects. One is * permanent and is the map object that is used by the robot. The other * is transient and is the map object that is currently being read from * a file following an Aria configuration update. If the file is * successfully read, then the loading ArMapSimple object is copied to * the main permanent one and mapChanged notifications are sent to * registered listeners. * * The following "diagram" illustrates the basic hierarchy: * * 
  
 *        ArMapInterface                          , Defined in ArMapInterface.h
 *        ^ (extends)  ^ 
 *        |            |
 *        |            |
 *     ArMap +-------> ArMapSimple * +-------> ArMapScan *
 *                 (contains)        |
 *                                   +-------> ArMapObjects *
 *                                   |
 *                                   +-------> ArMapInfo *
 *                                   |
 *                                   +-------> ArMapSupplement *
 *
 *                                              * : Defined in ArMapComponents.h
 *
* * * This header file originally also contained the definition of ArMapObject. * That class has been moved into its own header file (ArMapObject.h). * * * Maintenance Note #1: In this case, the use of the Proxy design pattern implies * that modifying the ArMap external interface requires multiple changes: * First, the ArMapInterface (or sub-interface) must be updated. Then the ArMap * and ArMapSimple classes must be modified. Depending on the change, one of the * helper map components may also need to be modified. It is expected that * such changes to the interface will be infrequent. * * @see ArMapInfo * @see ArMapObject * @see ArMapObjects * @see ArMapScan * @see ArMapSupplement **/ #ifndef ARMAP_H #define ARMAP_H #include "ariaTypedefs.h" #include "ariaUtil.h" #include "ArMapComponents.h" #include "ArMapInterface.h" #include "ArMapUtils.h" #include "ArFunctor.h" #include "ArArgumentBuilder.h" #include "ArMutex.h" #include class ArFileParser; /// A map of a two-dimensional space the robot can navigate within, and which can be updated via the Aria config /** * ArMap contains data that represents the operating space of the robot, and can * be used for space searching, localizing, navigating etc. MobileRobots' ARNL * and SONARNL localization and navigation libraries use ArMap objects. * ArMap also provides methods to read and write the map from and to a file, * along with a mechanism for setting the map file via the global Aria config. * * Types of data stored in a map include sensable obstacles (e.g. walls and * furniture in a room) that are represented either as a collection of data * points or lines. The data points are similar to a raster or bit map and * are useful for high resolution sensors like lasers. The lines create a * vector map that is useful for low resolution sensors like sonar. For * advanced applications, the sensable obstacle data can be categorized according * to the type of scan or sensor; see ArMapScanInterface for more information. * * In addition to the obstacle data, the Aria map may contain goals, forbidden * areas, and other points and regions of interest (a.k.a. "map objects"). * Advanced applications can extend the set of predefined map object types. * See @ref MapObjects for more information. * * If the application needs to be aware of any changes that are made to the * Aria map at runtime, then it should install "mapChanged" callbacks on the map. * If the map file is re-read while the robot is running, then the callbacks * are automatically invoked. If the application makes other changes to the * map by calling any of the set methods, then it should call mapChanged() when * it is finished. * * See @ref MapFileFormat for the exact format of the actual .map file. * * @section MapThreading Thread issuses, and changing the map * * Different threads will need to access the same map data (for example ARNL, * ArForbiddenRangeDevice, networking). However, the ArMap class is not * inherently thread-safe. You must call lock() and unlock() methods, before * and after any access to the map data (e.g. calls to getMapObjects(), * getPoints(), setMapObjects(), setPoints()). * * If you are going to use setMapObjects(), setPoints(), setLines(), or * setMapInfo(), then you should lock() the map beforehand, call the methods, * then call mapChanged() to invoke the callbacks, and then finally * unlock() the map when done. Note that mapChanged() will only invoke * the callbacks if the data has actually changed. * * However, there is an exception: the readFile() and writeFile() * methods @b do automatically lock the map while they read and write. * * @section MapObjects Map Objects * * In addition to lines and points, maps may contain "map objects", points * or regions in space that have special meaning. * * Certain types of objects are predefined for all maps. These include * Goal, GoalWithHeading, Dock, ForbiddenLine, ForbiddenArea, and RobotHome. * * - Goal and GoalWithHeading are basically named ArPoses, the difference being * that the "th" (heading) value is only valid for GoalWithHeading. * - Dock is an ArPose that must always have a heading. * - ForbiddenLine is a boundary line, and ForbiddenArea is a rectangular * "sector". The extents of these objects are given as a pair of * poses, a "from" point and a "to" point. * - RobotHome may be either an ArPose or a rectangular sector. * * Rectangular objects may also have an associated angle of rotation, which is * stored in the object pose theta value (ArMapObject::getPose().getTh()). * The actual global coordinates of the rectangle must be calculated * using this angle and its "from-to" values. You can get a list of the 4 * ArLineSegment objects that comprise the rectangle's edges using * ArMapObject::getFromToSegments(). If you want to do your own calculations, * see ArMapObject::ArMapObject(). * * You can get a pointer to the current list of map objects with getMapObjects(), * and directly modify the list. You can also replace the current list of * map objects with a new one by calling setMapObjects(); this will destroy * the old list of map objects. Call mapChanged() to notify other components * that the map has changed. * * In addition to the standard map object types, is also possible to define * custom types of map objects using the "MapInfo" metadata section of the * map file. For example, if you wished to program some special behavior that * would only occur upon reaching certain goals, you could define a new * "SpecialGoal" type in the map file, and check for it in your program. * See @ref MapFileFormat for the syntax for defining new object types in the * map file. Custom types will appear in Mapper3 and MobilePlanner in * drop-down menus, and instances of the custom types will be displayed in * MobileEyes. * * Important Note: if a map defines special GoalType or DockType items, * then it must define all possible goal or dock types, including the * default "Goal", "GoalWithHeading", and "Dock" types if you want those * types to remain available. * * @ingroup OptionalClasses */ class ArMap : public ArMapInterface { public: /// Constructor /** * @param baseDirectory the name of the directory in which to search for map * files that are not fully qualified * @param addToGlobalConfig a bool set to true if the map file name parameter * should be added to the global config, Aria::getConfig(); false, otherwise * @param configSection the char * name of the config section to which to * add the map file name parameter name; applicable only if addToGlobalConfig * is true * @param configParam the char * name of the parameter to be added to the * specified configSection; applicable only if addToGlobalConfig is true * @param configDesc the char * description of the configParam; applicable * only if addToGlobalConfig is true * @param ignoreEmptyFileName a bool set to true if an empty file name is a * valid config parameter value; set to false if a failure should be reported * when the file name is empty; applicable only if addToGlobalConfig is true * @param priority the ArPriority::Priority of the config parameter; * applicable only if addToGlobalConfig is true * @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 configProcessFilePriority priority at which ArMap's configuration * parameters should be processed by ArConfig. **/ AREXPORT ArMap(const char *baseDirectory = "./", bool addToGlobalConfig = true, const char *configSection = "Files", const char *configParam = "Map", const char *configDesc = "Map of the environment that the robot uses for navigation", bool ignoreEmptyFileName = true, ArPriority::Priority priority = ArPriority::IMPORTANT, const char *tempDirectory = NULL, int configProcessFilePriority = 100); /// Copy constructor AREXPORT ArMap(const ArMap &other); /// Assignment operator AREXPORT ArMap &operator=(const ArMap &other); /// Destructor AREXPORT virtual ~ArMap(void); // =========================================================================== // ArMapInterface Methods // =========================================================================== // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // Scan Types Methods // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - AREXPORT virtual std::list getScanTypes() const; AREXPORT virtual bool setScanTypes(const std::list &scanTypeList); // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // Locking / Mutex Methods // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - AREXPORT virtual int lock(); AREXPORT virtual int tryLock(); AREXPORT virtual int unlock(); // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // ArMapScanInterface // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - AREXPORT virtual const char *getDisplayString (const char *scanType = ARMAP_DEFAULT_SCAN_TYPE); AREXPORT virtual std::vector *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 *points, const char *scanType = ARMAP_DEFAULT_SCAN_TYPE, bool isSortedPoints = false, ArMapChangeDetails *changeDetails = NULL); AREXPORT virtual std::vector *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 *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 *functor, const char *endOfLineChars, const char *scanType = ARMAP_DEFAULT_SCAN_TYPE); AREXPORT virtual void writePointsToFunctor (ArFunctor2 *> *functor, const char *scanType = ARMAP_DEFAULT_SCAN_TYPE, ArFunctor1 *keywordFunctor = NULL); AREXPORT virtual void writeLinesToFunctor (ArFunctor2 *> *functor, const char *scanType = ARMAP_DEFAULT_SCAN_TYPE, ArFunctor1 *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); // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // 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 findMapObjectsOfType (const char *type, bool isIncludeWithHeading = false); AREXPORT virtual std::list *getMapObjects(void); AREXPORT virtual void setMapObjects(const std::list *mapObjects, bool isSortedObjects = false, ArMapChangeDetails *changeDetails = NULL); AREXPORT virtual void writeObjectListToFunctor (ArFunctor1 *functor, const char *endOfLineChars); // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // ArMapInfoInterface // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - AREXPORT virtual std::list *getInfo(const char *infoName); AREXPORT virtual std::list *getInfo(int infoType); AREXPORT virtual std::list *getMapInfo(void); AREXPORT virtual int getInfoCount() const; AREXPORT virtual std::list getInfoNames() const; AREXPORT virtual bool setInfo(const char *infoName, const std::list *infoList, ArMapChangeDetails *changeDetails = NULL); AREXPORT virtual bool setInfo(int infoType, const std::list *infoList, ArMapChangeDetails *changeDetails = NULL); AREXPORT virtual bool setMapInfo(const std::list *mapInfo, ArMapChangeDetails *changeDetails = NULL); AREXPORT virtual const char *getInfoName(int infoType); AREXPORT virtual void writeInfoToFunctor(ArFunctor1 *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 *functor, const char *endOfLineChars); // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // Remaining ArMapInterface Methods // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - AREXPORT virtual void clear(); AREXPORT virtual bool set(ArMapInterface *other); AREXPORT virtual ArMapInterface *clone(); // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // 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 *functor, const char *endOfLineChars); AREXPORT virtual void writeObjectsToFunctor(ArFunctor1 *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); /// Forces the map to reload if the config is changed/reloaded AREXPORT void forceMapLoadOnConfigProcessFile(void) { myForceMapLoad = true; } #ifndef SWIG /** @swigomit (can't write to arguments yet) */ AREXPORT virtual bool readFile(const char *fileName, char *errorBuffer, size_t errorBufferLen, unsigned char *md5DigestBuffer, size_t md5DigestBufferLen); AREXPORT bool readFile(const char *fileName, char *errorBuffer, size_t errorBufferLen); #endif AREXPORT bool readFile(const char *fileName); #ifndef SWIG /** @swigomit (can't write to arguments yet) */ AREXPORT virtual bool writeFile(const char *fileName, bool internalCall, unsigned char *md5DigestBuffer = NULL, size_t md5DigestBufferLen = 0, time_t fileTimestamp = -1); #endif virtual bool writeFile(const char *fileName) { return writeFile(fileName, false, NULL, 0, -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(); AREXPORT virtual void setIgnoreEmptyFileName(bool ignore); AREXPORT virtual bool getIgnoreEmptyFileName(void); AREXPORT virtual void setIgnoreCase(bool ignoreCase = false); AREXPORT 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 *getRemainder(); AREXPORT virtual void setQuiet(bool isQuiet); AREXPORT virtual bool parseLine(char *line); AREXPORT virtual void parsingComplete(void); AREXPORT virtual bool isLoadingDataStarted(); AREXPORT virtual bool isLoadingLinesAndDataStarted(); // =========================================================================== // End of ArMapInterface // =========================================================================== // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // ArMap Methods // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /// Reads a map and changes the config map name to that file AREXPORT bool readFileAndChangeConfig(const char *fileName); /// Changes the config map name AREXPORT void changeConfigMapName(const char *fileName); protected: /// Processes changes to the Aria configuration; loads a new map file if necessary bool processFile(char *errorBuffer, size_t errorBufferLen); protected: // Lock to protect data during file I/O operations ArMutex myMutex; /// File path in which to find the map file name std::string myBaseDirectory; /// Name of the map file std::string myFileName; /// File statistics for the map file struct stat myReadFileStat; /// Name of the Aria config parameter that specifies the map file name std::string myConfigParam; /// Whether to ignore (not process) an empty Aria config parameter bool myIgnoreEmptyFileName; /// Whether to ignore case when comparing map file names bool myIgnoreCase; /// Whether the Aria config has already been processed at least once bool myConfigProcessedBefore; /// The name of the map file specified in the Aria config parameter char myConfigMapName[MAX_MAP_NAME_LENGTH]; /// Whether we want to force loading the map for some reasing bool myForceMapLoad; /// The current map used by the robot ArMapSimple * const myCurrentMap; /// The map that is being loaded, i.e. read from a file; will be copied to the current map if successful ArMapSimple * myLoadingMap; /// Whether to run in "quiet mode", i.e. logging less information bool myIsQuiet; /// Callback that processes changes to the Aria config. ArRetFunctor2C myProcessFileCB; }; // end class ArMap #endif // ARMAP_H