worldcontroller.h

/********************************************************************************
 *  WorldSim -- library for robot simulations                                   *
 *  Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it>                *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  This program is distributed in the hope that it will be useful,             *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of              *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               *
 *  GNU General Public License for more details.                                *
 *                                                                              *
 *  You should have received a copy of the GNU General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifdef FARSA_USE_YARP_AND_ICUB

#ifndef WORLDCONTROLLER_H
#define WORLDCONTROLLER_H

#include "worldsimconfig.h"
#include "world.h"
#include "yarpobject.h"
#include <QThread>
#include <QHash>
#include <QString>
#include <QStringList>
#include <QQueue>

namespace farsa {

class WorldController;
class ServerWorldController;
typedef QHash<QString, yarp::os::Bottle (ServerWorldController::*)(const yarp::os::Bottle&)> cmdHandlerHash;

class FARSA_WSIM_API ServerWorldController : public QThread {
    Q_OBJECT
public:
    ServerWorldController( WorldController* ctrl );
    ~ServerWorldController();
    void applyQueuedCommands();
protected:
    virtual void run();
private:
    yarp::os::Bottle startCmd( const yarp::os::Bottle& );
    yarp::os::Bottle pauseCmd( const yarp::os::Bottle& );
    yarp::os::Bottle stopCmd( const yarp::os::Bottle& );
    yarp::os::Bottle advanceCmd( const yarp::os::Bottle& );
    yarp::os::Bottle makeCmd( const yarp::os::Bottle& );
    yarp::os::Bottle setCmd( const yarp::os::Bottle& );
    yarp::os::Bottle setWorldCmd( const yarp::os::Bottle& cmd );
    yarp::os::Bottle setObjectCmd( const yarp::os::Bottle& cmd, WObject* object );
    WorldController* wctrl;
    cmdHandlerHash asyn_cmds;
    cmdHandlerHash syn_cmds;
    QQueue<yarp::os::Bottle> queue_cmds;
};

class FARSA_WSIM_API WorldController : public YarpObject {
    Q_OBJECT
public:
    WorldController( World* world, QString name );
    ~WorldController();
    virtual void update();
    yarp::os::Port* inPort() {
        return inport;
    };
    yarp::os::Port* outPort() {
        return outport;
    };
private:
    ServerWorldController* srv;
    yarp::os::Port* inport;
    yarp::os::Port* outport;
};

} // end namespace farsa

#endif

#endif // FARSA_USE_YARP_AND_ICUB