BehaviorController.hpp

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/*
 * BehaviorController.hpp
 *
 *  Created on: Nov 3, 2011
 *      Author: mriedel
 */

#ifndef BEHAVIORCONTROLLER_HPP_
#define BEHAVIORCONTROLLER_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

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

#include <telekyb_base/Messages.hpp>

#include <tk_behavior/BehaviorControllerInterface.hpp>
#include <tk_behavior/ActiveBehaviorContainer.hpp>

// BehaviorContainers. Systemcontains preloaded Behaviors
#include <tk_behavior/SystemBehaviorContainer.hpp>

#include <tk_behavior/Behavior.hpp>

#include <ros/ros.h>

namespace TELEKYB_NAMESPACE {

//forward declaration
class TrajectoryProcessorController;

class BehaviorController : public BehaviorSwitcher {
private:
        // Singleton Stuff
        static BehaviorController* instance;

        BehaviorController();
        virtual ~BehaviorController();

        BehaviorController(const BehaviorController &);
        BehaviorController& operator=(const BehaviorController &);

protected:
        // BehaviorNodeHandle
        ros::NodeHandle behaviorNodeHandle;

        // State Subscription
        ros::Subscriber tStateSub;

        // BehaviorController Parts
        //BehaviorControllerOptions options;
        SystemBehaviorContainer* systemBehaviorContainer;
        BehaviorControllerInterface* bcInterface;


        // active Behavior
        ActiveBehaviorContainer* activeBehavior;
//      Behavior* activeBehavior;
//      BehaviorSwitch behaviorSwitcher; // responsible for the Switch.

        // Last TKTrajInput
        TKTrajectory lastInput;

        // where to send the TKTrajInput
        TrajectoryProcessorController& trajProcCtrl;


        // initialize. This does further setup AFTER the object has been created.
        // This is needed, since Objects that reference the Behavior Controller can only be created after it returns from the constuctor
        // (Singleton Issue).
        //** This is like a Constructor. It's called by the Singleton creator DIRECTLY AFTER the actual constructor. **/
        void initialize();

        // Callback
        void tkStateCB(const telekyb_msgs::TKState::ConstPtr& tkStateMsg);

public:

        const ros::NodeHandle& getBehaviorNodeHandle() const;
        Behavior* getActiveBehavior() const;

        // Switch Behavior
        bool switchToBehavior(Behavior* newBehavior);

        const SystemBehaviorContainer& getSystemBehaviorContainer() const;

        bool switchToNormalBrake();
        bool switchToEmergencyLand();

        void activeBehaviorChanged();

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

}

#endif /* BEHAVIORCONTROLLER_HPP_ */