worldAbstract.hpp

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#ifndef WORLDABSTRACT_HPP_
#define WORLDABSTRACT_HPP_

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

#include "kernel/threads.hpp"
#include "jmath/jblas.hpp"
#include "rtslam/rtSlam.hpp"
#include "rtslam/objectAbstract.hpp"

#include "rtslam/parents.hpp"

namespace jafar {
  namespace rtslam {

    // some forward declarations.
    class MapAbstract;
    namespace display { class ViewerAbstract; }

    enum ErrorType { eNoError=0, eParam, eConfig, eDependency, eNotSupported, eNoSensorData, eLargeUncertainty, eCrashed };

    class WorldAbstract: public ObjectAbstract, public ParentOf<MapAbstract> {

      ENABLE_ACCESS_TO_CHILDREN(MapAbstract,Map,map);
      std::vector<display::ViewerAbstract*> display_viewers;

      public:

        WorldAbstract(): t(0), display_rendered(true), display_t(-1), slam_blocked(false), exit(false), error(eNoError) {}

        virtual ~WorldAbstract() {
        }
        
        //kernel::FifoMutex display_mutex;
        unsigned t;
        //unsigned display_rendered;
        
        bool display_rendered;
        unsigned display_t;
        boost::mutex display_mutex;
        boost::condition_variable display_condition;

        kernel::VariableMutex<bool> slam_blocked;
        kernel::VariableMutex<bool> exit;
        ErrorType error;
        
        void addDisplayViewer(display::ViewerAbstract *viewer, unsigned id);
        display::ViewerAbstract* getDisplayViewer(unsigned id);
    };

  }
}

#endif /* MAPABSTRACT_HPP_ */