LGLPursuitViewer.hpp

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/* $Id: lglViewer.hpp 4094 2009-09-04 09:32:58Z hcao $ */

#ifdef HAVE_MODULE_QDISPLAY // lgl viewer is on if HAVE_MODULE_QDISPLAY is defined

#ifndef LGL_DISPLAY_PURSUIT_HPP
#define LGL_DISPLAY_PURSUIT_HPP

#include <qdisplay/init.hpp>
#include <qdisplay/Viewer.hpp>
#include <qdisplay/ImageView.hpp>
#include <qdisplay/Shape.hpp>

#include <lgl/PursuitGraph.hpp>
#include <lgl/PursuitStats.hpp>

#include <ostream>
#include <string>
#include <vector>

namespace jafar {
  namespace lgl {


    class LGLPursuitViewer ;

    /*  specific viewer, herited from qdisplay */
    class PursuitController : public jafar::qdisplay::Viewer 
    {
      
      private :
        LGLPursuitViewer *master ;
      
      protected : 
        void setMaster( LGLPursuitViewer &_master);

      signals:
        void keyPressEvent(QKeyEvent *event);

      friend class LGLPursuitViewer ;

    };

    class PursuitViewer : public jafar::qdisplay::Viewer 
    {

      private :
        double scale ;
      
      public :
        PursuitViewer(double _scale) :
          scale(_scale)
        { }
      
      protected :
        void mouseMoveEvent ( QMouseEvent * event );

      friend class LGLPursuitViewer ;

    };

    struct Protagonist
    {
      //position
      int x ;
      int y ;

      //display
      jafar::qdisplay::Shape *shape1;
      jafar::qdisplay::Shape *shape2;
      jafar::qdisplay::Shape *shape3;
    };

    
    class LGLPursuitViewer 
    {
      public:
        
        // Constructors and Destructor 
        LGLPursuitViewer( PursuitGraph &_PG);
        
        ~LGLPursuitViewer();

        // Set functions
        void setRobotAccess ( std::string _robotAccessPath  );
        void setTargetAccess( std::string _targetAccessPath );
        void setRobotVisib  ( std::string _robotVisibPath );

        void setRobotPosition ( int _x, int _y);
        void setTargetPosition  ( int _x, int _y);

        void setHorizon ( unsigned int _horizon );
        
        /* start the game 
         *
         * return false if encounter any problem while launching the game.
         **/
        bool start () ;

        /* Reaction to target Movement (+ _x, + _y )
         */
        void move ( int _x, int _y) ;

        /* Display a given Path on the robot accessibility window 
         */
        void displayPath( const std::vector<Cell_ID> &path ) ;

        /* Display a given Path to a given set on the robot accessibility window
         */
        void displayPath2Set( const std::vector<Cell_ID> &path , const std::set < Cell_ID> &set) ;


      private:

        PursuitGraph *myPG ;

        /* Controler */
        jafar::lgl::PursuitController* ctrl ;

        PursuitViewer* viewer1;
        PursuitViewer* viewer2;
        PursuitViewer* viewer3;

        std::string robotAccessPath   ;
        std::string targetAccessPath  ;
        std::string robotVisibPath  ;

        /* Position of the robot and the target */
        Protagonist robot ;
        Protagonist target ;

        /* temporal horizon used in the PursuitGraph */
        unsigned int horizon;

        /* Scale for display */
        double scale ;

        /* risk view */
        std::vector< jafar::qdisplay::Shape *> risks ;

        /* past positions view */
        std::vector< jafar::qdisplay::Shape *> viewTargetPastPositions ;
        std::vector< jafar::qdisplay::Shape *> viewRobotPastPositions ;

        /* enable / disable the display of the risks
         */
        bool visibleRisks;

        /* enable / disable the display of the past positions
         */
        bool visiblePastPositions;

        /* statistics 
         */
        PursuitStats stats ;
        
        /* Target and Robot past positions
         */
        std::vector< std::pair<int, int > > targetPastPositions ;
        std::vector< std::pair<int, int > > robotPastPositions ;

        /* start the display 
         *
         * return false if data (file path) are missing, true otherwise.
         **/
        bool startDisplay () ;

        /* Refresh the display (especially the protagonist position )
         */
        bool refresh();

        /* Display the risk positions
         */
        void displayrisks();

        /* Hide the risk positions
         */
        void hiderisks();

        /* Display the target and robot past positions
         */
        void displaypastpositions();

        /* Hide the target and robot past positions
         */
        void hidepastpositions();

        /* Display the statistics
         */
        void displaystats();

        /* Display the "help"
         */
        void displayhelp();

      friend class PursuitController ;

    };

  }
}

#endif // LGL_DISPLAY_PURSUIT_HPP
#endif // QDisplay enabled