/home/toby/moos-ivp/MOOS-2375-Oct0611/NavigationAndControl/iRemote/MOOSRemote.h

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//
//   MOOS - Mission Oriented Operating Suite
//
//   A suit of Applications and Libraries for Mobile Robotics Research
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and
//   Oxford University.
//
//   This software was written by Paul Newman and others
//   at MIT 2001-2002 and Oxford University 2003-2005.
//   email: pnewman@robots.ox.ac.uk.
//
//   This file is part of a  MOOS Basic (Common) Application.
//
//   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.
//


// MOOSRemote.h: interface for the CMOOSRemote class.
//

#if !defined(iRemoteh)
#define iRemoteh


class CMOOSRemote : public CMOOSApp
{
public:
        bool MakeHeading();
        bool DoNavSummary(CMOOSMsg & Msg);
        class CCustomKey
        {
        public:
                CCustomKey(){bIsNumeric = false;};
                char m_cChar;
                std::string m_sKey;
                std::string m_sVal;
                bool bIsNumeric;
                bool bAskToConfirm;
        };
        typedef std::map< char ,CCustomKey> CUSTOMKEY_MAP;

        class CJournal
        {
        public:
                CJournal(){};
                CJournal(const std::string & sName, int nSize,char cKey)
                {
                        m_nMaxSize=nSize;
                        m_cKey = cKey;
                        m_sName = sName;
                };
                STRING_LIST m_Entries;
                char m_cKey;
                unsigned int m_nMaxSize;
                std::string m_sName;
                void Add(const std::string & sEntry)
                {
                        m_Entries.push_back(sEntry);
                        while(m_Entries.size()>m_nMaxSize)
                        {
                                m_Entries.pop_front();
                        }
                }
        };

        typedef std::map< std::string ,CJournal> CUSTOMJOURNAL_MAP;


    class CNavVar
    {
    public:
        CNavVar(){};
        CNavVar(std::string sName,std::string sPrint ,double dfS)
        {
            m_sMessageName = sName;
            m_sPrintName = sPrint;
            m_dfScaleBy = dfS;
            m_dfVal = 0;
            m_dfTime = -1;
        }
    public:
        std::string m_sMessageName;
        std::string m_sPrintName;
        double m_dfScaleBy;
        double m_dfVal;
        double m_dfTime;
    };
    typedef std::map< std::string ,CNavVar> NAVVAR_MAP;



        bool WDLoop();
    bool MailLoop();
        CMOOSRemote();
        virtual ~CMOOSRemote();
    bool Run( const char * sName,const char * sMissionFile);

    double m_dfCurrentElevator;
    double m_dfCurrentRudder;
    double m_dfCurrentThrust;
    double m_dfTimeLastSent;
    bool   m_bManualOveride;

    bool   m_bRunMailLoop;



protected:
        bool PrintCustomSummary();
        bool MakeCustomSummary();
        bool MakeCustomKeys();
        bool MakeCustomJournals();


        bool HandleSAS();
        bool ReStartAll();
        bool MakeWayPoint();
        bool HandleThirdPartyTask();
        bool HandleScheduler();
        bool PrintNavSummary();
        bool EnableMailLoop(bool bEnable);
        bool HandleTopDownCal();
        bool DoCustomKey(char cCmd);
        bool DoCustomJournal(char cCmd);
        bool HitInputWD();
        bool DoWiggle();
        bool SetManualOveride(bool bOveride);
        virtual bool OnConnectToServer();
        bool OnStartUp();
    bool    StopThreads();
    bool    StartThreads();
    bool FetchDB();
    bool    m_bQuit;
    double m_dfTimeLastAck;

    STRING_LIST m_CustomSummaryList;

    #ifdef _WIN32
            HANDLE m_hWDThread;
    #endif

        unsigned long           m_nWDThreadID;

    #ifdef _WIN32
            HANDLE m_hMailThread;
    #endif

        unsigned long           m_nMailThreadID;

    CMOOSLock m_Lock;
        bool SendDesired();
        void PrintHelp( );

        CUSTOMKEY_MAP m_CustomKeys;

        // a map of custom journals
        CUSTOMJOURNAL_MAP m_CustomJournals;
    //a map of nav vars used to keep a record of where
    //vehicle is...
    NAVVAR_MAP m_NavVars;

};

#endif