ArServerHandlerMapping.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 ARSERVERHANDLERMAPPING_H
#define ARSERVERHANDLERMAPPING_H

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

class ArServerHandlerMapping
{
public:
  AREXPORT ArServerHandlerMapping(ArServerBase *server, ArRobot *robot,
                                  ArSick *sick, 
                                  const char *baseDirectory = "",
                                  const char *tempDirectory = "",
                                  bool useReflectorValues = false);
  AREXPORT virtual ~ArServerHandlerMapping();
  AREXPORT void serverMappingStart(ArServerClient *client, 
                                   ArNetPacket *packet);
  AREXPORT void serverMappingEnd(ArServerClient *client, 
                                 ArNetPacket *packet);
  AREXPORT void serverMappingStatus(ArServerClient *client, 
                                 ArNetPacket *packet);
  AREXPORT void addSimpleCommands(ArServerHandlerCommands *handlerCommands);
  AREXPORT void simpleLoopStart(ArArgumentBuilder *arg);
  AREXPORT void simpleLoopEnd(ArArgumentBuilder *arg);
  AREXPORT void addStringForStartOfLogs(
          const char *str, ArListPos::Pos position = ArListPos::LAST);
  AREXPORT void remStringForStartOfLogs(char *str);
  AREXPORT void addMappingStartCallback(
          ArFunctor *functor, ArListPos::Pos position = ArListPos::LAST);
  AREXPORT void remMappingStartCallback(ArFunctor *functor);
  AREXPORT void addMappingEndCallback(
          ArFunctor *functor, ArListPos::Pos position = ArListPos::LAST);
  AREXPORT void remMappingEndCallback(ArFunctor *functor);
  AREXPORT void addPreMoveCallback(
          ArFunctor *functor, ArListPos::Pos position = ArListPos::LAST);
  AREXPORT void remPreMoveCallback(ArFunctor *functor);
  AREXPORT void addPostMoveCallback(
          ArFunctor *functor, ArListPos::Pos position = ArListPos::LAST);
  AREXPORT void remPostMoveCallback(ArFunctor *functor);
  AREXPORT bool packetHandler(ArRobotPacket *packet);
protected:
  ArServerBase *myServer;
  ArRobot *myRobot;
  ArSick *mySick;
  bool myUseReflectorValues;
  

  std::list<ArFunctor *> myMappingStartCallbacks;
  std::list<ArFunctor *> myMappingEndCallbacks;
  std::list<ArFunctor *> myPreMoveCallbacks;
  std::list<ArFunctor *> myPostMoveCallbacks;
  std::list<std::string> myStringsForStartOfLog;
  ArSickLogger *mySickLogger;
  std::string myMapName;
  std::string myFileName;
  std::string myBaseDirectory;
  std::string myTempDirectory;
  ArFunctor2C<ArServerHandlerMapping, ArServerClient *, ArNetPacket *> myMappingStartCB;
  ArFunctor2C<ArServerHandlerMapping, ArServerClient *, ArNetPacket *> myMappingEndCB;
  ArFunctor2C<ArServerHandlerMapping, ArServerClient *, ArNetPacket *> myMappingStatusCB;
  ArServerHandlerCommands *myHandlerCommands;
  ArRetFunctor1C<bool, ArServerHandlerMapping, ArRobotPacket *> myPacketHandlerCB;
  ArFunctor1C<ArServerHandlerMapping, ArArgumentBuilder *> myLoopStartCB;
  ArFunctor1C<ArServerHandlerMapping, ArArgumentBuilder *> myLoopEndCB;
};



#endif // ARSERVERHANDLERMAPPING_H

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