include/architecture/basics/robot.h

/*
*
* Author: Miguel Julia <mjulia@umh.es> 
* 
* Date:   2008
* 
* Class robot
*
*/
#pragma once
#ifndef __ROBOT__
#define __ROBOT__

#include "slamInterface.h"
#include "reactive.h"
#include "planner.h"
#include "robotBase.h"
#include "worldModelInterface.h"
#include "stepEvent.h"
#include "ConfigFile.h"

namespace robots{
        const int EXPLORER = 0;
}


/**
* @brief Implements the architecture for a mobile robot
*/
class robot{

///////////////////////////////////////////////////////////////////////
//-------------------------  Attributes  ------------------------------
///////////////////////////////////////////////////////////////////////
protected:
        int number;                                     // robot number in the team
        char* strlog;
        slamInterface* mySlam;                          // this class is not the owner of this pointer
        reactive* reac;
        planner* plan;
        worldModelInterface* scene;                     // this class is not the owner of this pointer
        robotBase* rbase;
        const ConfigFile* config;                       // this class is not the owner of this pointer

//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////
//-------------------------  Methods  ---------------------------------
///////////////////////////////////////////////////////////////////////
public:
        /// Default Constructor
        robot();
        /// Default Destructor
        virtual ~robot();

        /// Constructor
        /// \param scene reference to virtual world object
        /// \param slamProc reference to slam object
        robot(int number, slamInterface& slamProc, worldModelInterface& scene, const ConfigFile& config);
        /// Initializer
        /// \param scene virtual world
        /// \param slamProc pointer to slam object
        virtual void initialize(int number, slamInterface& slamProc, worldModelInterface& scene, const ConfigFile& config);
        
        /// returns the robot number
        int getNumber() const;

        /// returns the robot id
        int getId() const;

        /// sets the reference to the slam object
        void setSlam(slamInterface& slamProc);

        /// sets the reference to the virtual world object
        void setWorldModel(worldModelInterface& scene);

        /// sets the log file
        void setLogName(const char* str);
        /// returns the reference to the planner exploration concluded event manager
        stepEventManager& endEvent() const;

        /// Initiatites the hybrid exploration of the environment
        virtual void start()=0;

        /// stops all actions execution
        virtual void stop()=0;

        void disable();
//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////
};

inline int robot::getNumber() const                                     {return number;}
inline int robot::getId() const                                         {return rbase->getNumber();}
inline void robot::setSlam(slamInterface& slamProc)                     {mySlam = &slamProc;}
inline void robot::setWorldModel(worldModelInterface& s)                {scene = &s;}
inline stepEventManager& robot::endEvent() const                        {return plan->explorationFinished;}
inline void robot::disable()                                            {mySlam->disableRobotBase(number); scene->disablePlatform(*rbase); }

typedef Loki::Functor<robot*, LOKI_TYPELIST_4(int, slamInterface&, worldModelInterface&, const ConfigFile&)> robotCreator;
typedef Loki::SingletonHolder< Loki::Factory< robot, int, LOKI_TYPELIST_4(int, slamInterface&, worldModelInterface&, const ConfigFile&)> > robotFactory;


#endif