ariaInternal.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARIAINTERNAL_H
#define ARIAINTERNAL_H


#include "ArMutex.h"
#include "ArFunctor.h"
#include "ArConfig.h"

#ifndef ARINTERFACE
#include "ArStringInfoGroup.h"
class ArRobot;
class ArRobotJoyHandler;
#endif // ARINTERFACE

class ArKeyHandler;
class ArJoyHandler;


class Aria
{
public:

  typedef enum {
    SIGHANDLE_SINGLE, 
    SIGHANDLE_THREAD, 
    SIGHANDLE_NONE 
  } SigHandleMethod;

  AREXPORT static void init(SigHandleMethod method = SIGHANDLE_THREAD,
                bool initSockets = true, 
                bool sigHandleExitNotShutdown = true);

  AREXPORT static void uninit();

  AREXPORT static void addInitCallBack(ArFunctor *cb, ArListPos::Pos position);

  AREXPORT static void addUninitCallBack(ArFunctor *cb,
                     ArListPos::Pos position);

  AREXPORT static void shutdown();

  AREXPORT static void exit(int exitCode = 0);

  AREXPORT static bool getRunning(void);

  AREXPORT static void setDirectory(const char * directory);

  AREXPORT static const char *getDirectory(void);

  AREXPORT static bool parseArgs(void);

  AREXPORT static void logOptions(void);

  AREXPORT static void setKeyHandler(ArKeyHandler *keyHandler);

  AREXPORT static ArKeyHandler *getKeyHandler(void);

  AREXPORT static void setJoyHandler(ArJoyHandler *joyHandler);

  AREXPORT static ArJoyHandler *getJoyHandler(void);

  AREXPORT static void addExitCallback(ArFunctor *functor, int position = 50);

  AREXPORT static void exitOld(int exitCode = 0);

  AREXPORT static void signalHandlerCB(int sig);

  AREXPORT static void callExitCallbacks(void);

  AREXPORT static void addParseArgsCB(ArRetFunctor<bool> *functor, 
                      int position = 50);

  AREXPORT static void setParseArgLogLevel(ArLog::LogLevel level);

  AREXPORT static void addLogOptionsCB(ArFunctor *functor, int position = 50);

#ifndef ARINTERFACE

  AREXPORT static void setRobotJoyHandler(ArRobotJoyHandler *robotJoyHandler);

  AREXPORT static ArRobotJoyHandler *getRobotJoyHandler(void);

  AREXPORT static ArConfig *getConfig(void);

  AREXPORT static ArStringInfoGroup *getInfoGroup(void);

  AREXPORT static void addRobot(ArRobot *robot);

  AREXPORT static void delRobot(ArRobot *robot);

  AREXPORT static ArRobot *findRobot(char *name);

  AREXPORT static std::list<ArRobot*> * getRobotList();
#endif // ARINTERFACE
protected:
  static bool ourInited;
  static ArGlobalFunctor1<int> ourSignalHandlerCB;
  static bool ourRunning;
  static ArMutex ourShuttingDownMutex;
  static bool ourShuttingDown;
  static bool ourExiting;
  static std::string ourDirectory;
  static std::list<ArFunctor*> ourInitCBs;
  static std::list<ArFunctor*> ourUninitCBs;
  static ArKeyHandler *ourKeyHandler;
  static ArJoyHandler *ourJoyHandler;
#ifndef ARINTERFACE
  static std::list<ArRobot*> ourRobots;
  static ArRobotJoyHandler *ourRobotJoyHandler;
  static ArConfig ourConfig;
  static ArStringInfoGroup ourInfoGroup;
#endif // ARINTERFACE
  static ArMutex ourExitCallbacksMutex;
  static std::multimap<int, ArFunctor *> ourExitCallbacks;
  static bool ourSigHandleExitNotShutdown;
  static std::multimap<int, ArRetFunctor<bool> *> ourParseArgCBs;
  static ArLog::LogLevel ourParseArgsLogLevel;
  static std::multimap<int, ArFunctor *> ourLogOptionsCBs;
};


#endif // ARIAINTERNAL_H

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