ArServerHandlerMap.h

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/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     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 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARSERVERMAP_H
#define ARSERVERMAP_H

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


class ArServerClient;

class ArMap;

class ArServerHandlerMap
{
public:
  enum DataToSend { LINES = 1, POINTS = 2, BOTH = 3 };
  AREXPORT ArServerHandlerMap(ArServerBase *server, ArMap *arMap = NULL, 
                              DataToSend dataToSend = BOTH);
  AREXPORT virtual ~ArServerHandlerMap();
  AREXPORT bool loadMap(const char *mapFile);
  AREXPORT void useMap(ArMap *mapObj, bool takeOwnershipOfMap = false);
  AREXPORT ArMap *getMap(void);
  AREXPORT void serverGetMapName(ArServerClient *client,
                                 ArNetPacket *packet);
  AREXPORT void serverGetMap(ArServerClient *client,
                             ArNetPacket *packet);
  AREXPORT void serverGetMapBinary(ArServerClient *client,
                                   ArNetPacket *packet);
  AREXPORT void serverGetGoals(ArServerClient *client,
                               ArNetPacket *packet);
  AREXPORT void setDataToSend(DataToSend dataToSend) 
    { myDataToSend = dataToSend; }
  DataToSend getDataToSend(void) { return myDataToSend; }
protected:
  AREXPORT bool processFile(void);
  AREXPORT void mapChanged(void);
  // internal function that is used to toss the map to the client
  AREXPORT void writeMapToClient(const char *line, ArServerClient *client);
 

  AREXPORT void writePointsToClient(int pointCount,
                                    std::vector<ArPose> *points,
                                    ArServerClient *client);

  AREXPORT void writeLinesToClient(int lineCount,
                                    std::vector<ArLineSegment> *points,
                                    ArServerClient *client);

  ArServerBase *myServer;
  bool myOwnMap;
  DataToSend myDataToSend;
  ArMap *myMap;
  std::string myMapName;
  ArServerHandlerMap *myServerHandlerMap;
  bool myAlreadyLoaded;
  char myMapFileName[512];
  char myLastMapFile[1024];
  struct stat myLastMapFileStat;
  ArFunctor2C<ArServerHandlerMap, 
      ArServerClient *, ArNetPacket *> myGetMapNameCB;
  ArFunctor2C<ArServerHandlerMap, 
      ArServerClient *, ArNetPacket *> myGetMapCB;
  ArFunctor2C<ArServerHandlerMap, 
      ArServerClient *, ArNetPacket *> myGetMapBinaryCB;
  ArFunctor2C<ArServerHandlerMap, 
      ArServerClient *, ArNetPacket *> myGetGoalsCB;
  ArRetFunctorC<bool, ArServerHandlerMap> myProcessFileCB;
  ArFunctorC<ArServerHandlerMap> myMapChangedCB;
};

#endif

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