include/architecture/planner/FSAPlanner.h

/*
*
* Author: Miguel Julia <mjulia@umh.es> 
* 
* Date:   2008
* 
* Class FrontierGreedyPlanner
*
*
*/

#pragma once
#ifndef __FSA__PLANNER__
#define __FSA__PLANNER__

#include <iostream>
#include <stdlib.h>
#include "ClThread.h"
#include "ClMutex.h"
#include "stepEvent.h"
#include "slamInterface.h"
#include "reactive.h"
#include "planner.h"
#include "ConfigFile.h"


/**
* @brief Implements a Finite State Automata that performs a reactive behaviour based exploration
*
*/

class FSAPlanner: public planner{

///////////////////////////////////////////////////////////////////////
//-------------------------  Attributes  ------------------------------
///////////////////////////////////////////////////////////////////////

private:

        bool exploring,                                 // exploration estate
                returning,                                      // return to precise poses
                 escapingFromLocalMinimum,      // path following to the nearest frontier
                 returningEscape;                       // path following to the nearest precise pose
        bool showPlanner;                               // Flag that indicates if the planning figure must be displayed
        bool endPlanner;                                // Flag that indicates that the thread must conclude in the next iteration 
        ClMutex closing;                                // Mutex for a right stopping of the thread
        std::vector<point> path;                // escape from local minimum planned path
        bool completedPath;                             // Flag to set when path is finished

        // parameters
        int inflate_obstacles;
        bool integrate_slam;
        bool escape_allowed;


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

///////////////////////////////////////////////////////////////////////
//-------------------------  Methods  ---------------------------------
///////////////////////////////////////////////////////////////////////

public:

        /// Constructor
        FSAPlanner(const ConfigFile& config);
        /// Destructor
        virtual  ~FSAPlanner();

private:
        
        int setup();                                    // Thread setup
        void onStop();                                  // Thread on stop
        void execute();                                 // Thead execution body

//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////
};

#endif