BehaviorController.hpp

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/*
 * BehaviorController.hpp
 *
 *  Created on: Nov 15, 2011
 *      Author: mriedel
 */

#ifndef INTERFACE_BEHAVIORCONTROLLER_HPP_
#define INTERFACE_BEHAVIORCONTROLLER_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <ros/ros.h>

#include <telekyb_interface/Behavior.hpp>
#include <telekyb_interface/OptionController.hpp>

#include <telekyb_msgs/Behavior.h>

namespace TELEKYB_INTERFACE_NAMESPACE {

// ActiveBehaviorListener

class ActiveBehaviorListener {
public:
        virtual void activeBehaviorChanged(Behavior newActiveBehavior) = 0;
};

class BehaviorController {
protected:
        ros::NodeHandle behaviorControllerNodeHandle;
        // OptionController
        OptionController* optionController;

        // active Behavior
        Behavior activeBehavior;

        ros::Subscriber activeBehaviorSub;

        // get Active
        Behavior getActiveBehavior();

        // Listener // only one at ATM
        ActiveBehaviorListener* listener;

public:
        BehaviorController(const std::string& behaviorHandleNamespace, OptionController* optionController_);
        virtual ~BehaviorController();

        // return Nodehandle
        const ros::NodeHandle& getNodeHandle() const;

        // return OptionController
        OptionController* getOptionController() const;

        // System Behaviors are only loaded Once and can be referenced by Name.
        Behavior getSystemBehavior(const std::string& behaviorName);
        // Get Available Behaviors.
        bool getAvailableBehaviors(std::vector<std::string>& behaviorNames);
        Behavior loadBehavior(const std::string& behaviorName);
        bool unloadBehavior(Behavior& behavior);

        // Switch
        bool switchBehavior(const Behavior& behavior);

        // Current Behavior Pointer -> updates live
        Behavior* getActiveBehaviorPointer();
        const Behavior& getActiveBehaviorReference() const;

        // active Behavior Callback
        void activeBehaviorCallback(const telekyb_msgs::Behavior::ConstPtr& msg);

        // setActiveBehaviorListener;
        void setActiveBehaviorListener(ActiveBehaviorListener* listener_);
};

}

#endif /* BEHAVIORCONTROLLER_HPP_ */