/home/fwph/code/wurde/rde/core/capabilities/ObstacleAvoiderTransport.H

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#ifndef _OBSTACLEAVOIDERTRANSPORT_H
#define _OBSTACLEAVOIDERTRANSPORT_H
#include <WritableType.H>
#include <Capability.H>
#include <COMObject.H>
#include <queue>
#include <vector>

// $Id: Type.H 66 2007-01-23 20:53:23Z fwph $

#define OBSTACLEAVOIDERTRANSPORT "ObstacleAvoiderTransport"
// IDNUMBER is used to identify data events . IDNUMBER+1 is the info event. this
// system will probably go away soon...
//#define OBSTACLEAVOIDERTRANSPORTIDNUMBER 22

namespace WURDE {
        class Capability;
        class CommsManager;
        class Logger;

        

        
        class ObstacleAvoiderTransportInfoStruct {
        public:         std::string source;
                Writable< bool  > absolute;
                Writable< float  > avoidanceRadius;
                Writable< float  > maxTranslationVelocity;
                Writable< bool  > goalHasLocation;
                MessageType mType;
                std::string target;
                Time timestamp;
                Writable< bool  > goalHasTheta;
                Writable< bool  > brake;
                Writable< float  > maxRotationVelocity;
                Writable< Pose  > goalPose;
        };

        
        class ObstacleAvoiderTransportDataStruct {
        public:         std::string source;
                bool pathObstructed;
                float angleToGoal;
                Time timestamp;
                float distanceToGoal;
        };
  
        class ObstacleAvoiderTransport : virtual public Capability {

        public:
               explicit ObstacleAvoiderTransport(const std::string & streamname);              

               ObstacleAvoiderTransport(const ConnectionStrategy & strategy,const std::string & gblName);

               ObstacleAvoiderTransport(const std::string & streamname,const std::string & gblName);
               
               ~ObstacleAvoiderTransport();


               void init(const std::string & streamname,const ConnectionStrategy & strategy, const std::string & gblName);

               
               ObstacleAvoiderTransportDataStruct data;    
               
               ObstacleAvoiderTransportInfoStruct info;
               
               ObstacleAvoiderTransportInfoStruct requests;
               
               //RobotObject imps
               void runUpdate();
               void setManager(CommsManager *myManager_);
               void setCOMObject(COMBase *object){ myCOMObject = dynamic_cast<COMObject<ObstacleAvoiderTransportInfoStruct,ObstacleAvoiderTransportDataStruct> *> (object);}
               void disconnect(){if(myCOMObject){myCOMObject->disconnect();}}
               void activateSupplier();
               void activateConsumer();
               std::string getInterfaceName(){ return OBSTACLEAVOIDERTRANSPORT;}
               void setStreamName(const std::string & name);
               void setGlobalName(const std::string & name);
               bool newData();
               bool newInfo();
               void setAutoPing(const bool & val);
               void doPing();
               //              int getID(){return OBSTACLEAVOIDERTRANSPORTIDNUMBER;}

               bool getQueueMode(){return m_queue;};

               void setQueueMode(const bool & val);
               
               ObstacleAvoiderTransportDataStruct getNextData();
               
               ObstacleAvoiderTransportInfoStruct getNextInfo();

               ObstacleAvoiderTransportInfoStruct getNextRequest(){return getNextInfo();}

               void publishData();
               void publishInfo();
               //void publishRequest();
               
        protected:
               COMObject<ObstacleAvoiderTransportInfoStruct, ObstacleAvoiderTransportDataStruct> *myCOMObject;

               bool m_queue;

               //notes that the object should be initialized as soon as a streamname is received
               bool m_initialize;
               std::queue<ObstacleAvoiderTransportDataStruct> m_dataVector;
               std::queue<ObstacleAvoiderTransportInfoStruct> m_infoVector;
               std::queue<ObstacleAvoiderTransportInfoStruct> m_requestVector;
        
        };

}


#endif

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