TrajectoryProcessorController.hpp

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/*
 * TrajectoryProcessorController.hpp
 *
 *  Created on: Dec 13, 2011
 *      Author: mriedel
 */

#ifndef TRAJECTORYPROCESSORCONTROLLER_HPP_
#define TRAJECTORYPROCESSORCONTROLLER_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <telekyb_defines/ClassInterfaces.hpp>

#include <tk_trajprocessor/TrajectoryProcessorControllerOptions.hpp>
#include <tk_trajprocessor/TrajectoryModuleContainer.hpp>

#include <tk_state/StateEstimatorController.hpp>

#include <boost/thread/mutex.hpp>

namespace TELEKYB_NAMESPACE {

class TrajectoryController;

class TrajectoryProcessorController {
private:
        // Singleton Stuff
        static TrajectoryProcessorController* instance;

        TrajectoryProcessorController();
        virtual ~TrajectoryProcessorController();

        TrajectoryProcessorController(const TrajectoryProcessorController &);
        TrajectoryProcessorController& operator=(const TrajectoryProcessorController &);


protected:
        //** This is like a Constructor. It's called by the Singleton creator DIRECTLY AFTER the actual constructor. **/
        void initialize();

        // Options
        TrajectoryProcessorControllerOptions options;

        // BehaviorNodeHandle
        ros::NodeHandle trajProcessorNodeHandle;

        // State Subscription
        ros::Subscriber tStateSub;

        // StateEstimatorController Instance!
        StateEstimatorController& seController;

        // where to send the TKTrajInput
        TrajectoryController& trajController;

        // Callback
        TKState lastState;
        boost::mutex lastStateMutex;
        void tkStateCB(const telekyb_msgs::TKState::ConstPtr& tkStateMsg);


        // Modules
        TrajectoryModuleContainer trajModuleContainer;

        // Active?
        bool active;
        BehaviorSwitcher* switcher;

public:
        void setActive(BehaviorSwitcher* switcher_);
        void setInActive();
        bool isActive() const;

        BehaviorSwitcher* getBehaviorSwitcher() const;

        // TKTrajInputReceiver Delegate
        void trajInputStep(const TKTrajectory& input);


        // Singleton Stuff
        static TrajectoryProcessorController& Instance();
        static const TrajectoryProcessorController* InstancePtr();
        static bool HasInstance();
        static void ShutDownInstance();
};

} /* namespace telekyb */
#endif /* TRAJECTORYPROCESSORCONTROLLER_HPP_ */