libaria-dev 2.8.0+repack-1 / usr / include / Aria / ArMapUtils.h

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     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 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
/* 
 * Contains utility classes for the ArMap class.
 *
 * \author K. Cunningham
 * 
 * This file contains miscellaneous helper classes for the ArMap class.  
 * These are primarily related to tracking changes to the map and include
 * the following:
 *
 *  - ArMapId : The unique identifier for an Aria map.
 *
 *  - ArMapFileLine : The data regarding a text line in a map file; this  
 *    includes the line number and text.  
 *
 *  - ArMapFileLineGroup : A semantic parent / child relationship between 
 *    text lines in a map file. 
 *
 *  - ArMapFileLineSet : A list of map file line groups to be compared.  
 *    Contains helper methods to determines lines that have been added or 
 *    deleted.
 *
 *  - ArMapChangeDetails : A collection of ArMapFileLineSets that describes 
 *    all of the changes that were made to an Aria map.
 *
 *  - ArMapFileLineSetWriter : An output functor that is used to populate an
 *    ArMapFileLineSet.
 *
 *  - ArMapChangedHelper : A collection of callbacks and methods to invoke 
 *    them after the Aria map has been changed.
 */

#ifndef ARMAPUTILS_H
#define ARMAPUTILS_H

#include <algorithm>
#include <functional>
#include <map>
#include <set>
#include <string>
#include <vector>

#include "ariaTypedefs.h"
#include "ariaUtil.h"


class ArArgumentBuilder;
class ArBasePacket;

// ============================================================================
// ArMapId
// ============================================================================

/// Enapsulates the data used to uniquely identify an Aria map
/**
 * ArMapId is a small helper class that contains all of the information 
 * needed to uniquely identify an Aria map.  In addition to the standard
 * file attributes (such as filename, size, and timestamps), it 
 * contains the name of the originating source robot or server.  It 
 * also contains the checksum of the file contents.  This checksum is
 * currently calculated by the ArMD5Calculator class.  All of the 
 * data should allow one to determine whether two map files are the same 
 * with a reasonable degree of certainty.
 * <p>
 * The ArMapId class is not thread-safe.
 *
 * @see ArMD5Calculator
**/
class ArMapId {

public:
  // --------------------------------------------------------------------------
  // Static Methods
  // --------------------------------------------------------------------------

  /// Given a local file name, creates the map ID
  /**
   * This method calculates the checksum of the specified file
   * @param fileName the const char * name of the file for which to create the 
   * map ID
   * @param mapIdOut a pointer to the map ID to be filled in with the results
   * @return bool true if the file was found and the map ID created; false, 
   * otherwise.
  **/
  AREXPORT static bool create(const char *fileName,
                              ArMapId *mapIdOut);

  /// Inserts the given map ID into a network packet
  /**
   * The format of the map ID in the network packet is as follows:
   * <pre>
   *   string:  source robot or server name
   *   string:  map file name
   *   uByte4:  number of bytes in the checksum
   *   data  :  checksum, included only if the number of bytes in the checksum 
   *            is greater than 0
   *   uByte4:  file size
   *   byte4 :  file last modified time
   * </pre>
   * @param mapId the ArMapId to be inserted into the packet
   * @param packetOut the ArBasePacket * to be modified
  **/
  AREXPORT static bool toPacket(const ArMapId &mapId,
                                ArBasePacket *packetOut);
                                
  /// Extracts a map ID from the given network packet
  /**
   * @param packetIn the ArBasePacket from which to read the map ID
   * @param mapIdOut a pointer to the ArMapId to be filled in with the results
   * @return bool true if the map ID was successfully read from the given
   * packet, false otherwise.
   * @see toPacket for a description of the packet format
  **/
  AREXPORT static bool fromPacket(ArBasePacket *packetIn,
                                  ArMapId *mapIdOut);

  // --------------------------------------------------------------------------
  // Instance Methods
  // --------------------------------------------------------------------------
  
  /// Default contructor creates a null map ID.
	AREXPORT ArMapId();
	
	/// Creates a map ID with the given attributes.
	/**
	 * @param sourceName the const char * name of the robot or server 
	 * from which the map originated
	 * @param fileName the const char * name of the map file
	 * @param checksum the unsigned char * buffer that contains the 
	 * file checksum
	 * @param checksumLength the size_t length of the checksum buffer
	 * @param size the long int number of bytes in the map file
	 * @param timestamp the time_t last modified time of the map file
	 * @see ArMD5Calculator
	**/
	AREXPORT ArMapId(const char *sourceName,
                   const char *fileName,
						       const unsigned char *checksum,
                   size_t checksumLength,
						       long int size,
						       const time_t timestamp);
 
  /// Copy constructor
	AREXPORT ArMapId(const ArMapId &other); 
	
	/// Assignment operator
	AREXPORT ArMapId &operator=(const ArMapId &other);
	
	/// Destructor
	AREXPORT ~ArMapId();


  // --------------------------------------------------------------------------
  // Getters
  // --------------------------------------------------------------------------
  
  /// Returns whether this map ID is null 
  AREXPORT bool isNull() const;

  /// Returns the string name of the originating robot or server
	AREXPORT const char *getSourceName() const;
	
	/// Returns the string name of the file 
	/**
	 * TODO: Does this include path name??
	**/
	AREXPORT const char *getFileName() const;
	
	/// Returns a pointer to the buffer that contains the checksum
	AREXPORT const unsigned char *getChecksum() const;
	/// Returns the length of the checksum
  AREXPORT size_t getChecksumLength() const;
	
	/// Returns the checksum in a human readable string format
  AREXPORT const char *getDisplayChecksum() const;
	
	/// Returns the number of bytes in the map file
  AREXPORT long int getSize() const;
  /// Returns the last modified time of the file
	AREXPORT time_t getTimestamp() const;

 
  // --------------------------------------------------------------------------
  // Setters
  // --------------------------------------------------------------------------
  
  /// Clears this map ID, i.e. sets it to null
  AREXPORT void clear();
   
  /// Sets the name of the source robot or server that originated the map file
	AREXPORT void setSourceName(const char *sourceName);
	/// Sets the map file name
	AREXPORT void setFileName(const char *fileName);
	/// Sets the checksum of the map file
	AREXPORT void setChecksum(const unsigned char *checksum,
													  size_t checksumLen);
  /// Sets the number of bytes in the map file
	AREXPORT void setSize(long int size);
	/// Sets the last modified time of the map file
	AREXPORT void setTimestamp(const time_t &timestamp);

  // --------------------------------------------------------------------------
  // Other Methods
  // --------------------------------------------------------------------------
 
  /// TODO Think that this is the same as operator==
  AREXPORT bool isSameFile(const ArMapId &other) const;
  
  /// Returns whether the source and file names are identical
  AREXPORT bool isVersionOfSameFile(const ArMapId &other) const;
  
  /// Returns true if the timestamp is valid; false if it's a special 'not-set' indicator 
  AREXPORT bool isValidTimestamp() const;
  
  /// Returns whether the two map IDs are equivalent
  /**
   * Note that if either map ID specifies a NULL timestamp, then the timestamp
   * will not be used for comparison purposes.
  **/
	AREXPORT friend bool operator==(const ArMapId & id1, const ArMapId & id2);
	
  /// Returns whether the two map IDs are not equal
  /**
   * Note that if either map ID specifies a NULL timestamp, then the timestamp
   * will not be used for comparison purposes.
  **/
	AREXPORT friend bool operator!=(const ArMapId & id1, const ArMapId & id2);

  /// Writes the map ID to the output log file, with the specified prefix /header.
  AREXPORT void log(const char *prefix) const;

protected:

  /// Name of the source robot or server from which the map file originated
	std::string mySourceName;
	/// Name of the map file
	std::string myFileName;
	/// Buffer that contains the checksum of the map file
  unsigned char *myChecksum;
  /// Length of the buffer that contains the checksum of the map file
  size_t myChecksumLength;
 
  /// Buffer that contains the checksum in human readable format
  mutable char *myDisplayChecksum;
  /// Length of the displayable checksum buffer
  mutable size_t myDisplayChecksumLength;
  
  /// Number of bytes in the map file
  long int mySize;
  /// Last modified time of the map file
  time_t myTimestamp;

}; // end class ArMapId


#ifndef SWIG


// ============================================================================
// ArMapFileLine, etc
// ============================================================================

/// Encapsulates the data regarding a text line in a map file.
/**
 * ArMapFileLine is the building block for map change comparisons.  It is 
 * simply the line number and associated text.
 * @internal
 * @swigomit
**/
class ArMapFileLine {

public:

  /// Default constructor
  ArMapFileLine() :
    myLineNum(0),
    myLineText()
  {}

  /// Constructor which sets the line number and text 
  ArMapFileLine(int lineNum,
                const char *lineText) :
    myLineNum(lineNum),
    myLineText((lineText != NULL) ? lineText : "")
  {}

  /// Copy constructor
  ArMapFileLine(const ArMapFileLine &other) :
    myLineNum(other.myLineNum),
    myLineText(other.myLineText)
  {}

  /// Assignment operator
  ArMapFileLine &operator=(const ArMapFileLine &other) 
  {
    if (this != &other) {
      myLineNum  = other.myLineNum;
      myLineText = other.myLineText;
    }
    return *this;
  }

  /// Destructor
  ~ArMapFileLine() 
  {}

  /// Returns the line number of the map file line  
  int getLineNum() const {
    return myLineNum;
  }
  /// Returns the text of the map file line
  const char *getLineText() const {
    return myLineText.c_str();
  }

	friend inline bool operator< ( const ArMapFileLine & line1, const ArMapFileLine & line2 );
  friend struct ArMapFileLineCompare;

protected:

  int myLineNum;          ///< Line number
  std::string myLineText; ///< Line text

}; // end class ArMapFileLine


/// Determines whether the first ArMapFileLine is less than the second
/**
 * Line1 is less than Line2 if its line number is less than that of Line2.
 * If the two line nubmers are equal, then Line1 is less than Line2 if its
 * text is less.
 * @internal
 * @swigomit
**/
inline bool operator<(const ArMapFileLine & line1, const ArMapFileLine & line2 )
{
    bool b = (line1.myLineNum < line2.myLineNum);
    if (!b) {
      if (line1.myLineNum == line2.myLineNum) {
        b = (line1.myLineText < line2.myLineText);
      }
    }
    return b;
}

/// Comparator used to sort ArMapFileLine objects.
/**
 * @internal
 * @swigomit
 */
struct ArMapFileLineCompare : public std::binary_function<const ArMapFileLine &, const ArMapFileLine &, bool> 
{
  /// Returns true if line1 is less than line2; false, otherwise.
  bool operator()(const ArMapFileLine &line1,
                  const ArMapFileLine &line2) 
  { 
    bool b = (line1.myLineNum < line2.myLineNum);
    if (!b) {
      if (line1.myLineNum == line2.myLineNum) {
        b = (line1.myLineText < line2.myLineText);
      }
    }
    return b;
  }
}; // end struct MapFileLineCompare

// ============================================================================
// ArMapFileLineGroup
// ============================================================================

/// A group of map file lines which have a logical parent / child relationship.
/**
 * Some of the text lines in a map file may have a parent / child relationship.
 * For example, the text line that starts a route is the parent of the following
 * lines that describe the contents of the route.  This class is used to 
 * express this relationship.  Note that there is currently no concept of 
 * a grandparent relationship in the map file lines.
 * @internal
 * @swigomit
**/
class ArMapFileLineGroup {

public:

  /// Contructs a new group with the specified parent.
  ArMapFileLineGroup(const ArMapFileLine &parentLine) :
    myParentLine(parentLine),
    myChildLines()
  {}

  /// Destructor
  ~ArMapFileLineGroup() {}

  /// Returns a pointer to the parent map file line.
  ArMapFileLine *getParentLine() {
    return &myParentLine;
  }
  /// Returns a pointer to the list of child map file lines.
  std::vector<ArMapFileLine> *getChildLines() {
    return &myChildLines;
  }

	friend inline bool operator<(const ArMapFileLineGroup & line1, 
                               const ArMapFileLineGroup & line2);
  friend struct ArMapFileLineGroupCompare;

  /// Writes the group to the Aria log.
  void log();

public: // users may access class members directly

  ArMapFileLine myParentLine; ///< The map file line that is the parent of the group
  std::vector<ArMapFileLine> myChildLines; ///< A list of child map file lines

}; // end class ArFileLineGroup

/// Determines whether group1's parent text is less than group2's parent text.
/** @internal  
 *  @swigomit
 */
inline bool operator<(const ArMapFileLineGroup & group1, 
                      const ArMapFileLineGroup & group2)
{
  bool b = (strcmp(group1.myParentLine.getLineText(), 
                   group2.myParentLine.getLineText()) < 0);
  return b;
}


/// Comparator used to sort groups in order of ascending parent text.
/** @internal  
 *  @swigomit
 */
struct ArMapFileLineGroupCompare : public std::binary_function<const ArMapFileLineGroup &, 
                                                               const ArMapFileLineGroup &, 
                                                               bool> {
  bool operator()(const ArMapFileLineGroup &group1,
                  const ArMapFileLineGroup &group2) 
  { 
    bool b = (strcmp(group1.myParentLine.getLineText(), 
                     group2.myParentLine.getLineText()) < 0);
    return b;
  }
}; // end struct ArMapFileLineGroupCompare


/// Comparator used to sort groups in order of ascending parent line number.
/** @internal  
 *  @swigomit
 */
struct ArMapFileLineGroupLineNumCompare : 
                  public std::binary_function<const ArMapFileLineGroup &, 
                                              const ArMapFileLineGroup &, 
                                              bool> {
  bool operator()(const ArMapFileLineGroup &group1,
                  const ArMapFileLineGroup &group2) 
  { 
    bool b = (group1.myParentLine.getLineNum() < 
              group2.myParentLine.getLineNum());
    return b;
  }
}; // end struct ArMapFileLineGroupLineNumCompare


// ============================================================================
// ArMapFileLineSet
// ============================================================================

/// A set of map file line groups.
/**
 * ArMapFileLineSet is a container of ArMapFileLineGroup objects -- i.e. a 
 * set of parent/child text lines in an Aria map.  The class has been 
 * defined to enable comparisons of map file versions.  Each section of 
 * an Aria map is written to an ArMapFileLineSet and then the standard
 * algorithm set_difference can be used to determine changes within a 
 * section.  The static method ArMapFileLineSet::calculateChanges()
 * performs this comparison.
 * @swigomit
 * @internal
**/
class ArMapFileLineSet : public std::vector<ArMapFileLineGroup>
{
public:

  // ---------------------------------------------------------------------------
  /// Determines the changes that have been made to a set of ArMapFileLines
  /**
   * @param origLines the ArMapFileLineSet that contains the original map file
   * lines
   * @param newLines the ArMapFileLineSet that contains the new map file lines
   * @param deletedLinesOut a pointer to the ArMapFileLineSet that is populated
   * with lines that have been deleted, i.e. that are contained in origLines 
   * but not in newLines
   * @param addedLinesOut a pointer to the ArMapFileLineSet that is populated
   * with lines that have been added, i.e. that are contained in newLines but
   * not in origLines
   * @param isCheckChildren a bool set to true if child lines should also be 
   * checked; if false, then only the parent lines are checked
   * @return bool true if the changes were successfully determined; false if
   * an error occurred
  **/
  static bool calculateChanges(ArMapFileLineSet &origLines,
                               ArMapFileLineSet &newLines,
                               ArMapFileLineSet *deletedLinesOut,
                               ArMapFileLineSet *addedLinesOut,
                               bool isCheckChildren = true);

  // ---------------------------------------------------------------------------

  /// Constructor 
  ArMapFileLineSet() {}

  /// Copy constructor
  ArMapFileLineSet(const ArMapFileLineSet &other) :
    std::vector<ArMapFileLineGroup>(other)
  {}

  /// Assignment operator
  ArMapFileLineSet &operator=(const ArMapFileLineSet &other) 
  {
    if (this != &other) {
      std::vector<ArMapFileLineGroup>::operator =(other);
    }
    return *this;
  }

  /// Destructor
  ~ArMapFileLineSet() {}

  /// Searches the set for the given parent line.
  iterator find(const ArMapFileLine &groupParent);

  /// Writes the set to the Aria output log.
  void log(const char *prefix);

}; // end class ArMapFileLineSet


// ============================================================================
// ArMapChangeDetails
// ============================================================================

/// Helper class used to track changes to an Aria map.
/**
 * ArMapChangeDetails is a simple helper class that is used to track changes
 * to an Aria map.  These changes are determined based on set comparisons 
 * (and thus everything in the map must be ordered in a repeatable manner).
 *
 * The class itself provides very little functionality.  It is basically 
 * a repository of change information that may be accessed directly by the 
 * application. The methods return pointers to the internal data members 
 * which may be directly manipulated.  There is no error checking, 
 * thread-safety, etc.  The class's use and scope is expected to be very 
 * limited (to the Aria map and related classes).
 * @swigomit
 * @internal
**/
class ArMapChangeDetails
{
public:

	enum MapLineChangeType {
		DELETIONS,  ///< Lines that have been deleted from the Aria map
		ADDITIONS,  ///< Lines that have been added to the Aria map 
    LAST_CHANGE_TYPE = ADDITIONS  ///< Last value in the enumeration
	};

  enum {
    CHANGE_TYPE_COUNT = LAST_CHANGE_TYPE + 1 ///< Number of map change types
  };

  /// Constructor
  AREXPORT ArMapChangeDetails();

  /// Copy constructor
  AREXPORT ArMapChangeDetails(const ArMapChangeDetails &other);

  /// Assignment operator
  AREXPORT ArMapChangeDetails &operator=(const ArMapChangeDetails &other);

  /// Destructor
  AREXPORT ~ArMapChangeDetails();

  // ---------------------------------------------------------------------------
  // Map ID Methods
  // ---------------------------------------------------------------------------

  /// Returns the original pre-change map ID
  /**
   * @param mapIdOut a pointer to the ArMapId to be returned 
   * @return bool true if the map ID was successfully retrieved; false if an 
   * error occurred
  **/
  AREXPORT bool getOrigMapId(ArMapId *mapIdOut);

  /// Sets the original pre-change map ID
  /**
   * @param mapId the ArMapId of the map before it was changed
  **/
  AREXPORT void setOrigMapId(const ArMapId &mapId);

  /// Returns the new post-change map ID
  /**
   * @param mapIdOut a pointer to the ArMapId to be returned 
   * @return bool true if the map ID was successfully retrieved; false if an 
   * error occurred
  **/
  AREXPORT bool getNewMapId(ArMapId *mapIdOut);

  /// Sets the new post-change map ID
  /**
   * @param mapId the ArMapId of the map after it was changed
  **/
  AREXPORT void setNewMapId(const ArMapId &mapId);

  // ---------------------------------------------------------------------------
  // Change Info
  // ---------------------------------------------------------------------------

  /// Returns a pointer to the list of scan types that have been modified
  /**
   * This list includes the scan types in the map before and after it was changed.
   * Scan types usually won't be added or removed, but it may occur when one 
   * map is inserted into another.
   * A pointer to the actual internal attribute is returned.
   * @return a pointer to the list of scan type identifier strings
  **/
  AREXPORT std::list<std::string> *getScanTypes();

  /// Returns a pointer to the data points that have been changed for the specified scan type
  /**
   * @param change the MapLineChangeType that indicates whether added or removed
   * points are to be returned
   * @param scanType the const char * identifier of the scan for which the points
   * are to be returned; must be non-NULL
   * @return a non-NULL pointer to the vector of ArPose's that have been changed
  **/
  AREXPORT std::vector<ArPose> *getChangedPoints(MapLineChangeType change,
                                                 const char *scanType);

  /// Returns a pointer to the data line segments that have been changed for the specified scan type
  /**
   * @param change the MapLineChangeType that indicates whether added or removed
   * line segments are to be returned
   * @param scanType the const char * identifier of the scan for which the line
   * segments are to be returned; must be non-NULL
   * @return a non-NULL pointer to the vector of ArLineSegment's that have been changed
  **/
  AREXPORT std::vector<ArLineSegment> *getChangedLineSegments
                                                (MapLineChangeType change,
                                                 const char *scanType);

  /// Returns a pointer to the header lines that have been changed for the specified scan type
  /**
   * @param change the MapLineChangeType that indicates whether added or removed
   * scan header lines are to be returned
   * @param scanType the const char * identifier of the scan for which the changes
   * are to be returned; must be non-NULL
   * @return a non-NULL pointer to the ArMapFileLineSet that describes the changes
  **/
  AREXPORT ArMapFileLineSet *getChangedSummaryLines(MapLineChangeType change,
                                                 const char *scanType);

  /// Returns a pointer to the map supplement lines that have been changed 
  /**
   * @param change the MapLineChangeType that indicates whether added or removed
   * supplement lines are to be returned
   * @return a non-NULL pointer to the ArMapFileLineSet that describes the changes
  **/
  AREXPORT ArMapFileLineSet *getChangedSupplementLines(MapLineChangeType change);

  /// Returns a pointer to the map object (i.e. Cairn) lines that have been changed 
  /**
   * @param change the MapLineChangeType that indicates whether added or removed
   * map object lines are to be returned
   * @return a non-NULL pointer to the ArMapFileLineSet that describes the changes
  **/
  AREXPORT ArMapFileLineSet *getChangedObjectLines(MapLineChangeType change);

  /// Returns a pointer to the specified info lines that have been changed
  /**
   * @param infoName the int identifier of the info type to be returned
   * @param change the MapLineChangeType that indicates whether added or removed
   * map info lines are to be returned
   * @return a non-NULL pointer to the ArMapFileLineSet that describes the changes
  **/
  AREXPORT ArMapFileLineSet *getChangedInfoLines(const char *infoName, 
                                                 MapLineChangeType change);


  // ---------------------------------------------------------------------------
  // Other Methods
  // ---------------------------------------------------------------------------

  /// Returns a list of the info types that have been changed
  /**
   * This method searches the internal changed info lines and returns the info
   * types that have non-empty change information.
   * @return list of the string info names that have non-empty changes
  **/
  AREXPORT std::list<std::string> findChangedInfoNames() const;

  /// Determines whether the given argument for the specified info type is a "child".
  /**
   * "Child" arguments have a non-NULL parent.  For example, an argument that
   * represents a robot task may be a child of one that defines a macro.  When
   * a child argument is changed, then the parent and all of its children 
   * must be included in the change details.  Note that currently only one
   * level of parent-ness is supported (i.e. there are no grandparents).
  **/
  AREXPORT bool isChildArg(const char *infoName,
                           ArArgumentBuilder *arg) const;

  /// Determines whether the given arg 0 for the info type is a "child".
  AREXPORT bool isChildArg(const char *infoName,
                           const char *arg0Text) const;

  /// Creates a map of args that are considered to be a "child" of another arg.
  AREXPORT void createChildArgMap();

  /// Writes the change details to the Aria log.
  AREXPORT void log();

  /// Locks the change details for multithreaded access.
  AREXPORT void lock();
  //// Unlocks the change details for multithreaded access.
  AREXPORT void unlock();

protected:

  /// Summary of changes for a specific map scan type.
  struct ArMapScanChangeDetails {

    std::vector<ArPose> myChangedPoints[CHANGE_TYPE_COUNT];
    std::vector<ArLineSegment> myChangedLineSegments[CHANGE_TYPE_COUNT];

    ArMapFileLineSet myChangedSummaryLines[CHANGE_TYPE_COUNT];

    ArMapScanChangeDetails();
    ~ArMapScanChangeDetails();

  }; // end struct ArMapScanChangeDetails

  ArMapScanChangeDetails *getScanChangeDetails(const char *scanType);

protected:

  /// Mutex to protect multithreaded access.
  ArMutex myMutex;

  /// Identifier of the map before the changes were made.
  ArMapId myOrigMapId;
  /// Identifier of the map after the changes were made.
  ArMapId myNewMapId;

  /// Map of info type identifiers to argument types, and whether each argument type is a child.
  std::map<std::string, std::map<std::string, bool> > myInfoNameToMapOfChildArgsMap;

  /// List of scan types included in the change details.
  std::list<std::string> myScanTypeList;
  /// Map of scan types to the changes for the scan.
  std::map<std::string, ArMapScanChangeDetails*> myScanTypeToChangesMap;
  /// Value returned when no scan data was changed.
  ArMapScanChangeDetails myNullScanTypeChanges;

  /// Change details for the map's supplemental data.
  ArMapFileLineSet myChangedSupplementLines[CHANGE_TYPE_COUNT];
  /// Change details for the map's object list.
  ArMapFileLineSet myChangedObjectLines[CHANGE_TYPE_COUNT];
  /// Change details for the map's info data.
  std::map<std::string, ArMapFileLineSet> myInfoToChangeMaps[CHANGE_TYPE_COUNT];

}; // end class ArMapChangeDetails

// ============================================================================
// ArMapFileLineSetWriter
// ============================================================================

/// Functor that populates a specified ArMapFileLineSet.
/**
 * ArMapFileLineSetWriter is used to create an ArMapFileLineSet, using the 
 * normal Aria map writeToFunctor mechanism.
 * @swigomit
 * @internal
**/
class ArMapFileLineSetWriter : public ArFunctor1<const char *>
{
public:

  /// Constructs a new writer for the given map file line set.
  ArMapFileLineSetWriter(ArMapFileLineSet *multiSet) :
    myLineNum(0),
    myChildLineNum(0),
	  myMultiSet(multiSet),
    myIsAddingChildren(false)
  {}
  
  /// Destructor
  ~ArMapFileLineSetWriter()
  {}
  
  /// Returns whether children are currently being added to the map file line set.
  bool isAddingChildren() const
  {
    return myIsAddingChildren;
  }

  /// Sets whether children are currently being added to the map file line set.
  /**
   * When a child line is detected by the map file parser, setAddingChildren(true) 
   * must be called.  The new children will be added to the most recently 
   * created ArMapFileLineSet.  Likewise, when the child list is complete, 
   * setAddingChildren(false) must be called.
  **/
  void setAddingChildren(bool isAddingChildren) {
    if (myIsAddingChildren == isAddingChildren) {
      return;
    }
    myIsAddingChildren = isAddingChildren; 
    if (myIsAddingChildren) {
      myChildLineNum = 0;
    }
  } // end method setAddingChildren


  /// Invokes the functor; this method shouldn't be called.
  virtual void invoke(void) {};

  /// Invokes the functor
  /**
     @param p1 the char * map file line to be written
  */
  virtual void invoke(const char *p1)
  {
    myLineNum++;

    if ((myMultiSet != NULL) && (p1 != NULL)) {
      if (!myIsAddingChildren) {
        // Being verbose on the parameters here in order to make it more clear.
        // Create a new map file line for the parent, create a new group for 
        // that parent, and add it to the set.
	      myMultiSet->push_back(ArMapFileLineGroup(ArMapFileLine(myLineNum, p1)));
      }
      else if (!myMultiSet->empty()) {
        myChildLineNum++;
        ArMapFileLineGroup &curParent = myMultiSet->back();
        curParent.getChildLines()->push_back(ArMapFileLine(myChildLineNum, p1));
      }
	  }
  } // end method invoke
 
private:

  /// Disabled copy constructor
  ArMapFileLineSetWriter(const ArMapFileLineSetWriter &other);
  /// Disabled assignment operator
  ArMapFileLineSetWriter &operator=(const ArMapFileLineSetWriter &other);

protected:

  /// Line number currently being written
  int myLineNum;
  /// "Local" line number of the current child in relation to its parent
  int myChildLineNum;

  /// Map file line set that is being populated
  ArMapFileLineSet *myMultiSet; 
  /// Whether a child is currently being added
  bool myIsAddingChildren;

}; // end class ArMapFileLineSetWriter


// ============================================================================
// ArMapChangedHelper
// ============================================================================

/// Helper class that stores and invokes the map changed callbacks.
/** @swigomit
 * @internal 
 */
class ArMapChangedHelper
 {
 public:
 
   ///  Constructor 
   AREXPORT ArMapChangedHelper();
   /// Destructor
   AREXPORT virtual ~ArMapChangedHelper();
   
   /// Function that invokes the map changed callbacks
   AREXPORT virtual void invokeMapChangedCallbacks(void);
 

   /// Adds a callback to be invoked when the map is changed
   AREXPORT virtual void addMapChangedCB(ArFunctor *functor, 
					 int position = 50);
   /// Removes a callback invoked when the map is changed
   AREXPORT virtual void remMapChangedCB(ArFunctor *functor);
 

   /// Adds a callback called before the map changed callbacks are called
   /**
    * Note that these callbacks are simply invoked before the "normal" map changed
    * callbacks.  They are not 
   **/
   AREXPORT virtual void addPreMapChangedCB(ArFunctor *functor,
                                            int position = 50);
   /// Removes a callback called before the map changed callbacks are called
   AREXPORT virtual void remPreMapChangedCB(ArFunctor *functor);
 
   /// Sets the level we log our map changed callback at
   AREXPORT virtual void setMapChangedLogLevel(ArLog::LogLevel level);
   /// Gets the level we log our map changed callback at
   AREXPORT virtual ArLog::LogLevel getMapChangedLogLevel(void);
   
 private:
 
   /// Disabled copy constructor
   AREXPORT ArMapChangedHelper(const ArMapChangedHelper &other);
   ///  Disabled assignment operaotr
   AREXPORT ArMapChangedHelper &operator=(const ArMapChangedHelper &other);
 
 protected:
 
   ArLog::LogLevel myMapChangedLogLevel;
 
   ArCallbackList myMapChangedCBList;
   ArCallbackList myPreMapChangedCBList;
 
 }; // end class ArMapChangedHelper
 
#endif // ifndef SWIG

#endif // ARMAPUTILS_H