GraspItAccessor.h

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#ifndef GRASP_PLANNING_GRASPIT_GRASPITACCESSOR_H
#define GRASP_PLANNING_GRASPIT_GRASPITACCESSOR_H

// #include <grasp_planning_graspit/LogBinding.h>
#include <grasp_planning_graspit/SharedPtr.h>
#include <grasp_planning_graspit/GraspItSceneManager.h>
#include <grasp_planning_graspit/GraspItTypes.h>
#include <string>

namespace GraspIt
{

class GraspItSceneManager;

class GraspItAccessor
{
    friend class GraspItSceneManager;
public:
    GraspItAccessor(const std::string& objectName, const SHARED_PTR<GraspItSceneManager>& interface);
    virtual ~GraspItAccessor();

    std::string getName() const;

protected:
    virtual void idleEventFromSceneManager() = 0;

    virtual void onSceneManagerShutdown() = 0;


    bool addAsIdleListener();

    bool removeFromIdleListeners();

    void scheduleForIdleEventUpdate();

    void unschedule();

    bool isScheduledForIdleEvent() const;

    const SHARED_PTR<GraspItSceneManager>& getGraspItSceneManager();

    const SHARED_PTR<const GraspItSceneManager> readGraspItSceneManager() const;

    bool eventThreadRunsQt() const;

    bool tryLockWorld();

    void lockWorld();

    void unlockWorld();

    UNIQUE_RECURSIVE_LOCK getUniqueWorldLock();

    Hand * getCurrentHand();

    const Hand * readCurrentHand() const;

    GraspableBody * getCurrentGraspableBody();

    const GraspableBody * readCurrentGraspableBody() const;

    Robot * getRobot(const std::string& name);

    Robot * getRobot(const unsigned int i);

    GraspableBody * getGraspableBody(const std::string& name);

    GraspableBody * getGraspableBody(const unsigned int i);

    Body * getBody(const std::string& name);

    Body * getBody(const unsigned int i);

    bool isRobotLoaded(const Robot * robot) const;

    bool isObjectLoaded(const Body * object) const;

    bool removeElement(WorldElement* elem, const bool deleteInstance);

    int addRobot(Robot* robot, const EigenTransform& worldTransform);

    int addBody(Body* body, const EigenTransform& worldTransform);

private:
    GraspItAccessor(const GraspItAccessor& o) {}

    GraspItAccessor() {}

    // pointer to the GraspItSceneManager object. GraspItSceneManager is supposed to
    // be threadsafe, though at beta stage, no guarantees are given yet.
    const SHARED_PTR<GraspItSceneManager> graspItInterface;

    const std::string name;

    bool registered;

    bool scheduled;
    MUTEX scheduledMtx;
};
}  // namespace GraspIt
#endif  //  GRASP_PLANNING_GRASPIT_GRASPITACCESSOR_H