jaus++/2.0/include/jaus/extras/rangesensor/rangesubscriber.h

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#ifndef __JAUS_EXTRAS_RANGE_SENSOR_SUBSCRIBER__H
#define __JAUS_EXTRAS_RANGE_SENSOR_SUBSCRIBER__H

#include "jaus/core/management/management.h"
#include "jaus/extras/rangesensor/queryrangesensorconfiguration.h"
#include "jaus/extras/rangesensor/querylocalrangescan.h"
#include "jaus/extras/rangesensor/reportrangesensorconfiguration.h"
#include "jaus/extras/rangesensor/reportlocalrangescan.h"

namespace JAUS
{
    class JAUS_EXTRAS_DLL RangeSubscriber : public Management::Child
    {
    public:
        class JAUS_EXTRAS_DLL Callback : public AccessControl::Callback
        {
        public:
            typedef std::set<Callback* > Set;
            Callback() {}
            virtual ~Callback() {}
            virtual void ProcessLocalRangeScan(const Point3D::List& scan, 
                                               const Address& sourceID, 
                                               const Byte deviceID,
                                               const Time& timestamp) = 0;
            virtual void ProcessLocalRangeScanPolar(const Point3D::List& scan, 
                                                    const Address& sourceID, 
                                                    const Byte deviceID,
                                                    const Time& timestamp) {};
        };
        const static std::string Name; 
        // Constructor.
        RangeSubscriber();
        // Destructor.
        ~RangeSubscriber();     
        // Shutsdown the service.
        virtual void Shutdown();
        // Create a range subscription.
        bool CreateRangeSubscription(const Address& id, 
                                     const Byte deviceID = 0,
                                     const unsigned int waitTimeMs = Service::DefaultWaitMs);
        bool GetRangeSensorInfo(const Address& id, 
                                RangeSensorConfig::List& list,
                                const unsigned int waitTimeMs = Service::DefaultWaitMs*3) const;
        // Overload to get data as it arrives.
        virtual void ProcessLocalRangeScan(const Point3D::List& scan,
                                           const Address& sourceID, 
                                           const Byte deviceID,
                                           const Time& timestamp) { }
        // Check to see if you have a range subscription.
        bool HaveRangeSubscription(const Address& id, const int deviceID = -1) const;
        // Cancel a range subscription.
        bool CancelRangeSubscription(const Address& id = Address(), const int deviceID = -1);
        // Register to receive updates of subsystems (add or removes callback).
        void RegisterCallback(Callback* callback, const bool add = true);  
        // Method called when an Event has been signaled, generates an Event message.
        virtual bool GenerateEvent(const Events::Subscription& info) const { return false; }
        // Method called to determine if an Event is supported by the service.
        virtual bool IsEventSupported(const Events::Type type,
                                      const double requestedPeriodicRate,
                                      const Message* queryMessage,
                                      double& confirmedPeriodicRate,
                                      std::string& errorMessage) const { return false; }
        // RangeSubscriber doesn't need to be discovered.
        virtual bool IsDiscoverable() const { return false; }
        // Processes messages associated with the RangeSubscriber Services.
        virtual void Receive(const Message* message);
        // Creates messages associated with the RangeSubscriber Service.
        virtual Message* CreateMessage(const UShort messageCode) const;
        // Method called when transitioning to a ready state.
        virtual bool Resume() { return true; }
        // Method called to transition due to reset.
        virtual bool Reset() { return true; }
        // Method called when transitioning to a standby state.
        virtual bool Standby() { return true; }
        // Method called when transitioning to an emergency state.
        virtual bool SetEmergency() { return true; }
        // Method called when leaving the emergency state.
        virtual bool ClearEmergency() { return true; }
        // Method called when control is released.
        virtual bool ReleaseControl() { return true; }
    private:
        Mutex mRangeCallbacksMutex;             
        Mutex mRangeSensorMutex;                
        Callback::Set mRangeCallbacks;          
        std::map<Address, RangeSensorConfig::Map > mRangeSensors;   
    };
}

#endif
/*  End of File */