src/architecture/basics/explorer.cpp

#include "explorer.h"

#include "reactiveGauss.h"

#include "HybridPlanner.h"
#include "FrontierGreedyPlanner.h"
#include "FSAPlanner.h"
#include "CoordinatedPlanner.h"
#include "IGPlanner.h"
#include "MarketPlanner.h"
#include "IntegratedIGPlanner.h"

// Para registrar la clase en la factoria
namespace robots{
        robot* CreateExplorer(int num, slamInterface& sp, worldModelInterface& s, const ConfigFile& conf){
                return new explorer(num, sp, s, conf);
        };
        const bool registered = robotFactory::Instance().Register(EXPLORER, robotCreator(CreateExplorer));
}

// constructor
explorer::explorer():
        plantype(0),
        reactype(0)
{
        printf("[EXPLORER] Explorer Robot created\n");
}

// constructor
explorer::explorer(int num, slamInterface& sp, worldModelInterface& s, const ConfigFile& conf):
        robot(num, sp,s,conf),
        plantype(conf.read<int>("PLANNER")),
        reactype(conf.read<int>("REACTIVE"))
{
        printf("[EXPLORER] Explorer Robot created\n");  
}

// destructor
explorer::~explorer(){
//      printf("[EXPLORER] Explorer destroyer...\n");
        printf("[EXPLORER] Explorer finished\n");
}

// initializer
void explorer::initialize(int num, slamInterface& sp, worldModelInterface& s, const ConfigFile& conf){
        robot::initialize(num,sp,s,conf);
        plantype = config->read<int>("PLANNER");
        reactype = config->read<int>("REACTIVE");
}


// initiates the exploration
// this method acts as a factory for planner and reactive layers
// TODO: use default factory
void explorer::start(){

        reac = reactiveFactory::Instance().CreateObject(reactype,*config);

        reac->setRobot(number);
        reac->setRBase(*rbase);
        reac->setSlam(*mySlam);

        plan = plannerFactory::Instance().CreateObject(plantype,*config);

        if (strlog) plan->setLogName(strlog);
        plan->setRobot(number);
        plan->setRBase(*rbase);
        plan->setReactive(*reac);
        plan->setSlam(*mySlam);

        plan->run();
        reac->run();

}

// stops the exploration
void explorer::stop(){
//      printf("[EXPLORER] stoping...\n");
        if (plan) plan->stop();
        if (reac) reac->stop();
//      printf("[EXPLORER] stoped\n");
}