ActiveBehaviorContainer.hpp

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/*
 * ActiveBehaviorContainer.hpp
 *
 *  Created on: Mar 13, 2012
 *      Author: mriedel
 */

#ifndef ACTIVEBEHAVIORCONTAINER_HPP_
#define ACTIVEBEHAVIORCONTAINER_HPP_

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

#include <telekyb_base/Options.hpp>

#include <tk_state/StateEstimatorController.hpp>

#include <tk_behavior/Behavior.hpp>
#include <tk_behavior/BehaviorControllerOptions.hpp>

// boost
#include <boost/thread.hpp>

// ENUM
TELEKYB_ENUM(TransitionState,
                (Active)
                (Termination)
                (Creation)
)


// Forward declaration
class BehaviorController;

namespace TELEKYB_NAMESPACE
{

class ActiveBehaviorContainer {
protected:
        Behavior* activeBehaviorPtr; // Behavior Pointer.

        BehaviorControllerOptions& options;

        // StateEstimatorController Instance!
        StateEstimatorController& seController;

        // BehaviorController Instance for Callbacks
        BehaviorController& behaviorController;

        // Boost Threading stuff
        boost::thread behaviorChangeThread;
        boost::mutex behaviorChangeMutex;
        // Behavior ChangeRequestMutex. One cannot ask for BehaviorSwitch during Trajectory Callback
        boost::mutex behaviorChangeRequestMutex;

        // Variables from thread
        TransitionState transitionState;

        void switchToBehaviorThread(Behavior* newBehavior);

        // Interface for Switch from TKTrajectory.
        void switchToBehaviorInt(Behavior* newBehavior);

        bool checkNewBehavior(Behavior* newBehavior) const;

public:
        ActiveBehaviorContainer(Behavior* initialActiveBehavior);
        virtual ~ActiveBehaviorContainer();

        // Trajectory Step for active Behavior
        void trajectoryStep(const TKState& currentState, TKTrajectory& generatedTrajInput);

        // Switch to Behavior. External Request.
        bool switchToBehavior(Behavior* newBehavior);

        Behavior* getActive() const;

};

} // namespace

#endif /* ACTIVEBEHAVIORCONTAINER_HPP_ */