Main.h

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//-*-c++-*-
#ifndef INCLUDED_Main_h_
#define INCLUDED_Main_h_

#include "Process.h"
#include "sim.h"
#include "IPC/SharedObject.h"
#include "SharedGlobals.h"
#include "Motion/MotionManager.h"
#include "Sound/SoundManager.h"
#include "local/EntryPoint.h"
#include "Vision/BufferedImageGenerator.h"
#include "Shared/Profiler.h"
#include "Events/EventListener.h"
#include "Shared/WorldState.h"

class Main : public Process, public virtual EventListener {
public:
  //! constructor
  Main();
  //! destructor
  ~Main();

  virtual void doStart();
  virtual void run();
  virtual void doStop();
  
  //! listens for a sensor update event, then calls SharedGlobals::signalHaveSensors()
  virtual void processEvent(const EventBase& event);

  static const char* getClassName() { return "Main"; }
  static ProcessID::ProcessID_t getID() { return ProcessID::MainProcess; }
  
  static const char * getEventsID() { return "MainEvents"; }
  
protected:
  SharedObject<sim::SoundPlayQueue_t> sounds;
  SharedObject<sim::MotionCommandQueue_t> motions;
  SharedObject<sim::EventQueue_t> events;
  SharedObject<sim::CameraQueue_t> cameraFrames;
  SharedObject<sim::SensorQueue_t> sensorFrames;
  SharedObject<sim::TimerWakeup_t> timerWakeup;
  SharedObject<sim::StatusRequest_t> statusRequest;
  SharedObject<MotionManager> motionmanager;
  SharedObject<SoundManager> soundmanager;
  SharedObject<motionProfiler_t> motionProf;
  SharedObject<soundProfiler_t> soundProf;
  
  class MessageReceiver * visrecv;
  class MessageReceiver * sensrecv;
  class MessageReceiver * evtrecv;
  class MessageReceiver * timerrecv;
  class MessageReceiver * statusrecv;
  class TimerExecThread * timerExec;
  bool visionRead;
  WirelessThread wireless_thread;
  WorldState worldStateCache; //!< used for temporary storage when parsing sensor frames, allocation here avoids rather costly constructor call on every sensor frame
  EntryPoint behaviorLock;

  static bool gotCamera(RCRegion* msg);
  static bool gotSensors(RCRegion* msg);
  static bool gotEvent(RCRegion* msg);
  static bool gotTimer(RCRegion* msg);
  void gotThreadedEvent(EventBase* evt);
  
  RCRegion * curimgregion;
  BufferedImageGenerator::ImageSource img; //!< root data source for vision stream, references data in #curimgregion
  unsigned int lastVisionSN; //!< serial number of last camera frame, just so we can give warning message when we drop (if verbose is set)
  
private:
  Main(const Main&); //!< don't call (copy constructor)
  Main& operator=(const Main&); //!< don't call (assignment operator)
};

/*! @file
 * @brief Defines Main, which DESCRIPTION
 * @author ejt (Creator)
 */

#endif