libaria-dev 2.8.0+repack-1.2 / usr / include / Aria / ArMapInterface.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
*/
/*! \file ArMapInterface.h
 *  \brief Contains the set of interfaces that define the Aria maps.
 *  \date 06/27/08
 *  \author K. Cunningham
 * 
 * The methods that define the Aria maps are grouped into a set of smaller
 * interfaces which are contained in this file.   These include:
 * 
 *  - ArMapScanInterface : Methods related to scan data (e.g.  points and
 *    lines) generally obtained from a specific sensor (such as the SICK laser
 *    or Hokuyo URG).
 *
 *  - ArMapObjectsInterface : Methods related to the objects in a map.
 *    These include user-defined objects such as goals, docks, and forbidden
 *    lines.  They also include special "data" types of objects that may be
 *    automatically created during the scanning process.
 * 
 *  - ArMapInfoInterface : Methods related to the various info arguments
 *    stored in a map.  Examples of info include the map object type 
 *    definitions and the routes and macros.
 * 
 *  - ArMapSupplementInterface : Methods used to access supplemental data 
 *    associated with the map.  This currently consists only of the latitude /
 *    longitude of the origin, but may be extended in the future.
 * 
 * The primary interface implemented by all Aria maps is also contained in
 * this file:
 *
 *  - ArMapInterface : All of the methods that are available for an Aria map.
 *    This interface extends all of the above interfaces and contains a 
 *    few additional file-related methods.
 * 
 * In general, when passing an Aria map (pointer) as a parameter to a method, 
 * it is preferable to pass ArMapInterface *.  This will allow for extension 
 * and different implementations of the interface. 
 *
 * <pre>  
 *      ArMapScanInterface
 *      ^
 *      |    ArMapObjectsInterface
 *      |    ^
 *      |    |    ArMapInfoInterface
 *      |    |    ^
 *      |    |    |    ArMapSupplementInterface
 *      |    |    |    ^  
 *      |    |    |    | (extends)
 *      |    |    |    |
 *       ArMapInterface
 *
 * </pre>
**/
#ifndef ARMAPINTERFACE_H
#define ARMAPINTERFACE_H
 
#include "ariaTypedefs.h"
#include "ariaUtil.h"

#include "ArMapObject.h"
#include "ArMapUtils.h"

#include "ArArgumentBuilder.h"
#include "ArFunctor.h"
#include "ArHasFileName.h"
#include "ArMutex.h"

#include <vector>
#include <set>

class ArFileParser;
class ArMapChangeDetails;
class ArMapObject;


// =============================================================================
// ArMapScanInterface
// =============================================================================

/// The default scan type indicator, when an Aria map only has obstacle data of one type
#define ARMAP_DEFAULT_SCAN_TYPE ""
/// The scan type indicator used to obtain collective data from most or all obstacle data (see individual methods for how it is used for specific kinds of map data)
#define ARMAP_SUMMARY_SCAN_TYPE NULL

/// Methods related to setting and retrieving the scan-related data in an Aria map.
/**
 * ArMapScanInterface is an abstract class that defines the methods used
 * to manipulate obstacle data in an Aria map.  These generally include the 
 * points and lines detected by a particular sensor (a.k.a. scan type).
**/
class ArMapScanInterface 
{
public:

  /// Determines whether the given scan type is the default (i.e. no prefix on the map tags)
  AREXPORT static bool isDefaultScanType(const char *scanType);
  /// Determines whether the given scan type represents the summary of all other scan types
  AREXPORT static bool isSummaryScanType(const char *scanType);

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

  /// Default constructor
  AREXPORT ArMapScanInterface() {}
  /// Destructor
  AREXPORT virtual ~ArMapScanInterface() {}

  AREXPORT virtual const char *getDisplayString
                                  (const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) = 0;

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Point Methods
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// Returns a pointer to the map points for the specified scan.
  /**
   *  Note that this returns a pointer to the object's internal vector.
   *  The map must be locked before this method is called, and must be
   *  unlocked after the caller has finished using the vector.
   *  @param scanType the const char * identifier of the scan type for
   *  which to return the points; must be non-NULL
   *  @return a pointer to the std::vector<ArPose> that contains the 
   *  specified scan's points; NULL if the scanType is undefined for 
   *  the map
  **/
  AREXPORT virtual std::vector<ArPose> *getPoints
                              (const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) = 0;

  /// Returns the lower left point (minimum x and y) of the scan's points.
  /**
   * @param scanType the const char * identifier of the scan type for 
   * which to return the minimum pose; if ARMAP_SUMMARY_SCAN_TYPE, then the 
   * minimum pose for all scans is returned
  **/
  AREXPORT virtual ArPose getMinPose
                           (const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) = 0;

  /// Returns the upper right point (maximum x and y) of the scan's points.
  /**
   * @param scanType the const char * identifier of the scan type for 
   * which to return the maximum pose; if ARMAP_SUMMARY_SCAN_TYPE, then the 
   * maximum pose for all scans is returned
  **/
  AREXPORT virtual ArPose getMaxPose
                           (const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) = 0;

  /// Returns the number of points in the specified scan.
  /**
   * @param scanType the const char * identifier of the scan type for 
   * which to return the point count; if ARMAP_SUMMARY_SCAN_TYPE, then the 
   * point count for all scans is returned
  **/
  AREXPORT virtual int getNumPoints
                           (const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) = 0;
  

  /// Returns whether the point vector for the specified scan is sorted
  /**
   * Note that this method returns the state of the point vector when it 
   * was read from the file, or after setPoints has been called.  If the
   * application calls getPoints and directly manipulates the point vector's
   * contents, then isSortedPoints will not necessarily be correct.
   * 
   * @param scanType the const char * identifier of the scan type for 
   * which to return the sorted state; if ARMAP_SUMMARY_SCAN_TYPE, then this method
   * returns true if and only if all scans have sorted points
  **/
  AREXPORT virtual bool isSortedPoints
                           (const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) const = 0;

  /// Sets the points (copies those passed in)
  /**
   * This method will sort the given points in ascending order (according 
   * to the ArPose less-than operator.  If the points vector is already sorted, 
   * then set the isSortedPoints parameter to true in order to improve performance.
   * @param points a pointer to the ArPose vector to be copied to the scan data
   * @param scanType the const char * identifier of the scan type for which 
   * to set the points; must not be ARMAP_SUMMARY_SCAN_TYPE or NULL
   * @param isSortedPoints a bool set to true if the points vector has already
   * been sorted in ascending order
   * @param changeDetails a pointer to the optional ArMapChangeDetails in which
   * to store a description of the changes to the scan data; if NULL then the 
   * changes are not tracked.
   * @see ArMapChangeDetails
  **/
  AREXPORT virtual void setPoints(const std::vector<ArPose> *points,
                                  const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
                                  bool isSortedPoints = false,
                                  ArMapChangeDetails *changeDetails = NULL) = 0;

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Line Segment Methods
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// Returns a pointer to the line segments for the specified scan.
  /**
   *  Note that this returns a pointer to the object's internal vector.
   *  The map must be locked before this method is called, and must be
   *  unlocked after the caller has finished using the vector.
   *  @param scanType the const char * identifier of the scan type for
   *  which to return the line segments; must be non-NULL
   *  @return a pointer to the std::vector<ArPose> that contains the 
   *  specified scan's points; NULL if the scanType is undefined for 
   *  the map
  **/
  AREXPORT virtual std::vector<ArLineSegment> *getLines
                           (const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) = 0;

  /// Returns the lower left point (minimum x and y) of the scan's line segments.
  /**
   * @param scanType the const char * identifier of the scan type for 
   * which to return the minimum line segment pose; if ARMAP_SUMMARY_SCAN_TYPE, 
   * then the minimum line segment pose for all scans is returned
  **/  
  AREXPORT virtual ArPose getLineMinPose
                           (const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) = 0;

  /// Returns the upper right point (maximum x and y) of the scan's line segments.
  /**
   * @param scanType the const char * identifier of the scan type for 
   * which to return the maximum line segment pose; if ARMAP_SUMMARY_SCAN_TYPE, 
   * then the maximum line segment pose for all scans is returned
  **/
  AREXPORT virtual ArPose getLineMaxPose
                           (const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) = 0;
  
  /// Returns the number of line segments in the specified scan.
  /**
   * @param scanType the const char * identifier of the scan type for 
   * which to return the line segment count; if ARMAP_SUMMARY_SCAN_TYPE, then the 
   * line segment count for all scans is returned
  **/
  AREXPORT virtual int getNumLines
                           (const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) = 0;

  /// Returns whether the line segment vector for the specified scan is sorted
  /**
   * Note that this method returns the state of the line segment vector when it 
   * was read from the file, or after setLines has been called.  If the
   * application calls getLines and directly manipulates the line segment vector's
   * contents, then isSortedLines will not necessarily be correct.
   * 
   * @param scanType the const char * identifier of the scan type for 
   * which to return the sorted state; if ARMAP_SUMMARY_SCAN_TYPE, then this method
   * returns true if and only if all scans have sorted line segments
  **/
  AREXPORT virtual bool isSortedLines(const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) const = 0;


  /// Sets the lines (copies those passed in)
  /**
   * This method will sort the given line segments in ascending order (according 
   * to the ArLineSegment less-than operator.  If the vector is already sorted, 
   * then set the isSortedLiens parameter to true in order to improve performance.
   * @param lines a pointer to the ArLineSegment vector to be copied to the scan data
   * @param scanType the const char * identifier of the scan type for which 
   * to set the points; must not be ARMAP_SUMMARY_SCAN_TYPE or NULL
   * @param isSortedLines a bool set to true if the line segment vector has already
   * been sorted in ascending order
   * @param changeDetails a pointer to the optional ArMapChangeDetails in which
   * to store a description of the changes to the scan data; if NULL then the 
   * changes are not tracked.
   * @see ArMapChangeDetails
  **/
  AREXPORT virtual void setLines(const std::vector<ArLineSegment> *lines,
                                 const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
                                 bool isSortedLines = false,
                                 ArMapChangeDetails *changeDetails = NULL) = 0;

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Other Attributes
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// Gets the resolution (-1 if none specified)
  /**
   * @param scanType the const char * identifier of the scan for which to return
   * the resolution; if ARMAP_SUMMARY_SCAN_TYPE then the lowest resolution (highest 
   * numerical value) of all scans is returned
  **/
  AREXPORT virtual int getResolution
                           (const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) = 0;

  /// Sets the resolution (-1 if none specified)
  /**
   * @param resolution the int number of mm between the scan data point readings
   * @param scanType the const char * identifier of the scan for which to return
   * the resolution; must not be ARMAP_SUMMARY_SCAN_TYPE or NULL
   * @param changeDetails a pointer to the optional ArMapChangeDetails in which
   * to store a description of the changes to the scan data; if NULL then the 
   * changes are not tracked.
   * @see ArMapChangeDetails
  **/
  AREXPORT virtual void setResolution(int resolution,
                                      const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
                                      ArMapChangeDetails *changeDetails = NULL) = 0;

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Persistence
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
 
  // Writes the scan header information to the given functor; does not write the points or lines.
  /**
   * This method writes a text line for each of the scan header attributes 
   * (such as MinPose, MaxPose, NumPoints).  Depending on the scan type, a 
   * prefix may be prepended to the keyword (e.g. HokuyoURGMinPose).
   * 
   * @param functor the ArFunctor1 to which to write the scan header information
   * (as text lines)
   * @param endOfLineChars the const char * string to be appended to the end
   * of each text line
   * @param scanType the const char * identifier of the scan data to be written to
   * the functor; must not be ARMAP_SUMMARY_SCAN_TYPE or NULL
   *
  **/
  AREXPORT virtual void writeScanToFunctor
                                (ArFunctor1<const char *> *functor, 
 			                           const char *endOfLineChars,
                                 const char *scanType = ARMAP_DEFAULT_SCAN_TYPE) = 0;

  /// Writes the scan data points to a functor.
  /**
   * A pointer to the entire data point vector is passed directly to the 
   * functor in order to improve performance.  The functor must not
   * modify the vector's contents.
   * @param functor a pointer to the ArFunctor2 that takes the number of points
   * and the vector of ArPoses, and writes the information
   * @param scanType the const char * identifier of the scan points to be written;
   * must not be ARMAP_SUMMARY_SCAN_TYPE or NULL
   * @param keywordFunctor a pointer to an optional ArFunctor1 that writes a 
   * text line to introduce the associated ArPoses; if NULL, then the header is not
   * written
  **/
  AREXPORT virtual void writePointsToFunctor
                         		(ArFunctor2<int, std::vector<ArPose> *> *functor,
                             const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
                             ArFunctor1<const char *> *keywordFunctor = NULL) = 0;

  /// Writes the map line segments to a functor.
  /**
   * A pointer to the entire data line segment vector is passed directly to the 
   * functor in order to improve performance.  The functor must not
   * modify the vector's contents.
   * @param functor a pointer to the ArFunctor2 that takes the number of line
   * segments and the vector of ArLineSegments, and writes the information
   * @param scanType the const char * identifier of the scan points to be written;
   * must not be ARMAP_SUMMARY_SCAN_TYPE or NULL
   * @param keywordFunctor a pointer to an optional ArFunctor1 that writes a 
   * text line to introduce the associated ArLineSegments; if NULL, then the
   * header is not written
  **/
  AREXPORT virtual void writeLinesToFunctor
 	                          (ArFunctor2<int, std::vector<ArLineSegment> *> *functor,
                             const char *scanType = ARMAP_DEFAULT_SCAN_TYPE,
                             ArFunctor1<const char *> *keywordFunctor = NULL) = 0;


  /// Adds handlers for this scan data's header information to the given file parser
  /**
   * @param fileParser a pointer to the ArFileParser to which to add the handlers
   * @return bool true if the handlers were successfully added; false if an error
   * occurred
  **/
  AREXPORT virtual bool addToFileParser(ArFileParser *fileParser) = 0;

  /// Removes the handlers for this scan data's header information from the given file parser
  /**
   * @param fileParser a pointer to the ArFileParser from which to remove the handlers
   * @return bool true if the handlers were successfully removed; false if an error
   * occurred
  **/
  AREXPORT virtual bool remFromFileParser(ArFileParser *fileParser) = 0;


  /// Reads a data point from the given line and adds it to this scan data.
  /**
   * The data point is expected to be two integers (x y), separated by whitespace.
   * @param line the char * text line to be parsed
   * @return bool true if the point was successfully read and added to this scan
   * data; false if an error occurred
  **/
  AREXPORT virtual bool readDataPoint( char *line) = 0;
  
  /// Reads a line segment from the given line and adds it to this scan data.
  /**
   * The line segment is expected to be four integers (x1 y1 x2 y2), separated 
   * by whitespace
   * @param line the char * text line to be parsed
   * @return bool true if the line segment was successfully read and added to 
   * this scan data; false if an error occurred
  **/
  AREXPORT virtual bool readLineSegment( char *line) = 0;

  /*** Public for ArQClientMapProducer ***/
  /// Adds the specified data point to the scan data.
  AREXPORT virtual void loadDataPoint(double x, double y) = 0;
  /// Adds the specified line segment to the scan data.
  AREXPORT virtual void loadLineSegment(double x1, double y1, 
                                        double x2, double y2) = 0;

}; // end class ArMapScanInterface


// =============================================================================
// ArMapObjectsInterface
// =============================================================================

/// Methods related to setting and retrieving the objects in an Aria map.
/**
 * ArMapObjectsInterface is an abstract class that defines the methods used
 * to manipulate the ArMapObjects that are contained in an Aria map.
**/
class ArMapObjectsInterface 
{

public :
 
   /// Constructor 
   AREXPORT ArMapObjectsInterface() {}
 
   /// Destructor
   AREXPORT virtual ~ArMapObjectsInterface() {}
 
 
   /// Returns the first map object of given name and type, or NULL if none is found
   /**
    * A pointer to the actual map object is returned.  It is not safe to 
    * store this pointer because it will be deleted when the map is changed.
    * If the caller needs the map object, then it should create its own copy.
    * This method is not thread-safe.
    * 
    * @param name the const char * name of the object to be found; if NULL then
    * any object of the specified type is a match
    * @param type the const char * type of the object to be found; if NULL then
    * search all object types
    * @param isIncludeWithHeading a bool set to true if the given type represents a 
    * pose and both "heading-less" and "with-heading" objects should be searched; 
    * if false, then only objects of the exact type are searched
    * @return ArMapObject * the matching map object, or NULL if none found
   **/
   AREXPORT virtual ArMapObject *findFirstMapObject(const char *name, 
                                                    const char *type,
                                                    bool isIncludeWithHeading = false) = 0;
 
   /// Returns the  map object of given name and type, or NULL if none is found
   /**
    * A pointer to the actual map object is returned.  It is not safe to 
    * store this pointer because it will be deleted when the map is changed.
    * If the caller needs the map object, then it should create its own copy.
    * This method is not thread-safe.
    * 
    * @param name the const char * name of the object to be found
    * @param type the const char * type of the object to be found; if NULL then
    * search all object types
    * @param isIncludeWithHeading a bool set to true if the given type represents a 
    * pose and both "heading-less" and "with-heading" objects should be searched; 
    * if false, then only objects of the exact type are searched
    * @return ArMapObject * the matching map object, or NULL if none found
   **/
   AREXPORT virtual ArMapObject *findMapObject(const char *name, 
 				                                       const char *type = NULL,
                                               bool isIncludeWithHeading = false) = 0;
 

   /// Returns a list of all map objects of the specified type.
   /**
    * A list of pointers to the actual map objects is returned.  It is not 
    * safe to store these pointers because they will be deleted when the map 
    * is changed.  If the caller needs the map objects at a later time, then 
    * it should create its own copy of each object in the list.
    * This method is not thread-safe.
    * 
    * @param type the const char * type of the objects to be found; if NULL then
    * all objects are returned
    * @param isIncludeWithHeading a bool set to true if the given type represents a 
    * pose and both "heading-less" and "with-heading" objects should be searched; 
    * if false, then only objects of the exact type are searched
    * @return a list of pointers to all of the ArMapObject's  that match the given
    * type
   **/
   AREXPORT virtual std::list<ArMapObject *> findMapObjectsOfType
                                                 (const char *type, 
                                                  bool isIncludeWithHeading = false) = 0;

   /// Returns a pointer to the internal list of map objects.
   /**
    * Ideally, callers of this method should not use the pointer to modify
    * the map objects directly.  It is preferable to modify a copy and then
    * call setMapObjects.
    *
    * It is not safe to store the returned pointer list because the pointers will 
    * be deleted when the map is changed.  If the caller needs the map objects at 
    * a later time, then it should create its own copy of each object in the list.
    * This method is not thread-safe.   
    * @return a list of pointers to all of the ArMapObject's in the map
   **/
   AREXPORT virtual std::list<ArMapObject *> *getMapObjects(void) = 0;
 
   /// Sets the map objects (copies those passed in)
   /**
    * This method sets its internal list to contain a copy of all of the given 
    * map objects.  Any map objects which were originally in the list but are
    * no longer referenced are deleted.  The list of map objects will be sorted
    * by increasing pose (i.e. objects in the upper left will be placed before
    * objects in the lower right).
    * This method is not thread-safe.
    *
    * @param mapObjects a pointer to the list of ArMapObject *'s to be copied
    * @param isSortedObjects a bool set to true if the objects in the given 
    * list have already been sorted by increasing pose; this can improve 
    * the performance of this method
    * @param changeDetails an optional pointer to the ArMapChangeDetails in 
    * which to accumulate a description of the changes to the map objects; 
    * if NULL, then changes are not tracked
    * @see ArMapChangeDetails
   **/
   AREXPORT virtual void setMapObjects
                            (const std::list<ArMapObject *> *mapObjects,
                             bool isSortedObjects = false,
                             ArMapChangeDetails *changeDetails = NULL) = 0; 
 

   // TODO Seems like it would be awfully nice to have an addMapObject and a
   // removeMapObject method


   /// Writes the list of map objects to a text-based functor.
   /**
    * This method writes a Cairn text line for each of the ArMapObject's.  
    * This method is not thread-safe.
    *
    * @param functor a pointer to the ArFunctor1 that writes the text lines
    * @param endOfLineChars the const char * string that indicates the end of
    * each text line
   **/
   AREXPORT virtual void writeObjectListToFunctor(ArFunctor1<const char *> *functor, 
 			                                            const char *endOfLineChars) = 0;
 
 }; // end class ArMapObjectsInterface


// =============================================================================
// ArMapInfoInterface
// =============================================================================

/// Methods related to setting and retrieving the various "info" tags in an Aria map.
/**
 * ArMapInfoInterface is an abstract class that defines the methods used to 
 * get and set an Aria map's "info" arguments.  An Aria map may have one or more
 * categories of info, each implemented by an ordered list of ArArgumentBuilder's.
 * The ArMapInfoInterface defines access to a collection of these info categories.
**/
class ArMapInfoInterface 
{
public :
  

 	AREXPORT static const char *MAP_INFO_NAME; 
 	AREXPORT static const char *META_INFO_NAME;
 	AREXPORT static const char *TASK_INFO_NAME;   
 	AREXPORT static const char *ROUTE_INFO_NAME; 
 	AREXPORT static const char *SCHED_TASK_INFO_NAME;
 	AREXPORT static const char *SCHED_INFO_NAME; 
 	AREXPORT static const char *CAIRN_INFO_NAME;  
 	AREXPORT static const char *CUSTOM_INFO_NAME;



  /// Constructor
  AREXPORT ArMapInfoInterface() {}

  /// Destructor
  AREXPORT virtual ~ArMapInfoInterface() {}

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Getters
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// Returns the number of info categories that are contained in this collection.
  AREXPORT virtual int getInfoCount() const = 0;

  /// Returns a list of the info category names that are contained in this collection.
  /**
   * @return the list of string names of the info categories (for example, 
   * MAP_INFO_NAME, META_INFO_NAME, ...)
   * This method is not thread-safe.
  **/
  AREXPORT virtual std::list<std::string> getInfoNames() const = 0;


  /// Returns the arguments for the specified info category; or NULL if none found
  /**
  * This method returns a pointer to the actual ArArgumentBuilder list that is
  * contained in the map.  It is not safe to store these pointers because they 
  * will be deleted when the map is changed.  If the caller needs the info
  * arguments at a later time, then it should create its own copy of each 
  * argument in the list.
  * This method is not thread-safe.
  *
  * @param infoName the unique char * identifier of the info category to be 
  * returned; must be non-NULL and a member of 
  * @return std::list<ArArgumentBuilder *> * a pointer to the specified Info 
  * list; NULL if infoType was invalid
  **/
  AREXPORT virtual std::list<ArArgumentBuilder *> *getInfo(const char *infoName) = 0;


  /// Gets the strings for the specified Info category.
  /**
  * @deprecated use getInfo(const char *) instead
  * 
  * This method returns a pointer to the actual ArArgumentBuilder list that is
  * contained in the map.  It is not safe to store these pointers because they 
  * will be deleted when the map is changed.  If the caller needs the info
  * arguments at a later time, then it should create its own copy of each 
  * argument in the list.
  * This method is not thread-safe.
  *
  * @param infoType the int ID of the Info category; must be >= 0 and less than
  * numInfos
  * @return std::list<ArArgumentBuilder *> * a pointer to the specified Info 
  * list; NULL if infoType was invalid
  **/
  AREXPORT virtual std::list<ArArgumentBuilder *> *getInfo(int infoType) = 0;

  /// Gets the map info strings
  /**
   * This method is equivalent to getInfo(MAP_INFO_NAME).
   * @see getInfo
  **/
  AREXPORT virtual std::list<ArArgumentBuilder *> *getMapInfo(void) = 0;


  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Setters
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  
  /// Sets the contents of the specified Info category (copies those passed in)
  /**
   * This method is not thread-safe.
   * @param infoName the unique const char * identifier of the 
   * @param infoList the std::list<ArArgumentBuilder *> * that defines the
   * Info category's contents; NULL to clear the Info
   * @param changeDetails a pointer to the ArMapChangeDetails in which to 
   * accumulate changes to the map's info lines; if NULL, then changes are
   * not tracked
   * @return bool set to true if the contents were successfully set; false,
   * if an error occurred
   * @see ArMapChangeDetails
   * @see setInfoNames
  **/
  AREXPORT virtual bool setInfo(const char *infoName,
                                const std::list<ArArgumentBuilder *> *infoList,
                                ArMapChangeDetails *changeDetails = NULL) = 0;


  /// Sets the contents of the specified Info category (copies those passed in)
  /**
   * @deprecated use setInfo(const char *,const std::list<ArArgumentBuilder *> *,ArMapChangeDetails*) 
   *
   * This method is not thread-safe.
   * @param infoType the int ID of the Info category to be set
   * @param infoList the std::list<ArArgumentBuilder *> * that defines the
   * Info category's contents; NULL to clear the Info
   * @param changeDetails a pointer to the ArMapChangeDetails in which to 
   * accumulate changes to the map's info lines; if NULL, then changes are
   * not tracked
   * @return bool set to true if the contents were successfully set; false,
   * if infoType was invalid
   * @see ArMapChangeDetails
  **/
  AREXPORT virtual bool setInfo(int infoType,
 						                    const std::list<ArArgumentBuilder *> *infoList,
                                ArMapChangeDetails *changeDetails = NULL) = 0; 


  /// Sets the map info (copies those passed in)
  /**
   * This method is equivalent to setInfo(MAP_INFO, mapInfo, changeDetails);
  **/
  AREXPORT virtual bool setMapInfo(const std::list<ArArgumentBuilder *> *mapInfo,
                                   ArMapChangeDetails *changeDetails = NULL) = 0;


  //AREXPORT virtual bool setInfoNames(const std::list<std::string> &infoNameList) = 0;


  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Miscellaneous
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// Writes the info collection to a text-based functor.
  /**
  * This method writes a text line for each of the info's ArArgumentBuilders.
  * This method is not thread-safe.
  *
  * @param functor a pointer to the ArFunctor1 that writes the text lines
  * @param endOfLineChars the const char * string that indicates the end of
  * each text line
  **/
  AREXPORT virtual void writeInfoToFunctor
 				                  (ArFunctor1<const char *> *functor, 
 			                      const char *endOfLineChars) = 0;

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Deprecated
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// List of the standard Info categories defined for Aria maps
  /**
   * @deprecated
  **/
  enum InfoType {
 	  MAP_INFO,         ///< MapInfo lines that define the valid map object types
    FIRST_INFO = MAP_INFO, ///< First value in the enumeration
    META_INFO,        ///< MetaInfo lines that provide overview info about the map
 	  TASK_INFO,        ///< TaskInfo lines that define the available robot tasks 
 	  ROUTE_INFO,       ///< RouteInfo lines that are the goal assocs, macros, and routes
    SCHED_TASK_INFO,  ///< SchedTaskInfo that define special tasks that may be scheduled
    SCHED_INFO,       ///< SchedInfo lines that are the schedules of route patrols
    CAIRN_INFO,       ///< CairnInfo lines that contain optional arguments for map objects
    CUSTOM_INFO,      ///< CustomInfo lines contain application specific data
 	  LAST_INFO = CUSTOM_INFO ///< Last value in the enumeration
  };

  /**
   * @deprecated
  **/
  enum {
 	  INFO_COUNT = LAST_INFO + 1 ///< Number of standard Info categories
  };


  /// Returns the name of the specified Info type 
  /**
   * @deprecated
   * The info name is the "xInfo:" tag that appears at the beginning of each text
   * line.  If subclasses define additional Info categories, then they must override 
   * this method.
   * @param infoType the int ID of the Info category 
   * @return const char * the name of the specified Info category; or NULL if not
   * found
  **/
  AREXPORT virtual const char *getInfoName(int infoType) = 0;


}; // end class ArMapInfoInterface


// =============================================================================
// ArMapSupplementInterface
// =============================================================================

/// Methods related to miscellaneous extra data in an Aria map.
/**
 * ArMapSupplementInterface is basically a repository for any pieces of data 
 * that do not fit in the other categories (i.e. scan data, map objects, or 
 * info).  It currently stores the optional latitude/longitude information.
**/
class ArMapSupplementInterface 
{
public:

  /// Default constructor
  AREXPORT ArMapSupplementInterface() {}
  
  /// Destructor
  AREXPORT virtual ~ArMapSupplementInterface() {}

  /// Returns whether this map has an origin specified in latitude/longitude (and altitude)
  AREXPORT virtual bool hasOriginLatLongAlt() = 0;
  
  /// Returns the latitude/longitude origin; valid only if hasOriginLatLongAlt returns true
  AREXPORT virtual ArPose getOriginLatLong() = 0;
  
  /// Gets the altitude of the origin; valid only if hasOriginLatLongAlt returns true
  /**
   * @return double the altitude (in meters) of the origin
  **/
  AREXPORT virtual double getOriginAltitude() = 0;

  /// Sets the latitude/longitude and altitude of the origin.
  /**
   * @param hasOriginLatLong a bool set to true if the map has latitude/longitude
   * information for the origin
   * @param originLatLong the ArPose that specifies the latitude/longitude of the
   * origin
   * @param altitude the double altitude (in meters) of the origin 
   * @param changeDetails a pointer to the optional ArMapChangeDetails in which
   * to store a description of the changes to the scan data; if NULL then the 
   * changes are not tracked.
  **/
  AREXPORT virtual void setOriginLatLongAlt
                                        (bool hasOriginLatLong,
                                         const ArPose &originLatLong,
                                         double altitude,
                                         ArMapChangeDetails *changeDetails = NULL) = 0;
  
  /// Writes the supplemental data to the given functor
  /**
   * @param functor the ArFunctor1 to which to write the supplemental data
   * (as text lines)
   * @param endOfLineChars the const char * string to be appended to the end
   * of each text line
  **/
  AREXPORT virtual void writeSupplementToFunctor
                                (ArFunctor1<const char *> *functor, 
 			                           const char *endOfLineChars) = 0;

}; // end class ArMapSupplementInterface


// =============================================================================
// ArMapInterface
// =============================================================================

/**
 * ArMapInterface defines the methods that are available on all Aria maps.
 * These maps represent the operating space of a robot, and can be used for
 * space searching, localizing, navigating etc.  The types of data stored 
 * in a map include sensable obstacles (e.g. walls and furniture in a room)
 * represented either as a collection of data points (similar to a raster 
 * or bit map, useful for high resolution sensors like a laser), or lines 
 * (a vector map, useful for low resolution sensors like the sonar), 
 * goals, and other points or regions of interest ("map objects"). 
 * 
 * The methods in ArMapInterface can be broadly categorized as follows:
 *   - Scan Methods:  These provide access the sensable obstacles that are
 *     represented as a collection of data points or lines.  These are 
 *     typically generated during the scanning process (i.e. the creation of 
 *     the .2d file).  If more than one sensor is used, then the data is
 *     organized on a per-sensor basis.  The scan methods are grouped into 
 *     the ArMapScanInterface.  
 *   - Object Methods:  These provide access to the "high-level" objects 
 *     in the environment.  Such objects include goals, docks, forbidden 
 *     areas, and other user-defined points of interest.  They may also 
 *     include special data objects that are actually part of the operating
 *     environment and are generally added automatically and are not editable
 *     by the user.  The object methods are grouped into the 
 *     ArMapObjectsInterface.
 *   - Info Methods: A wide variety of supporting information is included 
 *     in various "info" categories.  This includes definitions for the 
 *     types of map objects that can be stored in the map.  It also includes
 *     various optional features such as macros and schedules.  The info
 *     methods are grouped into the ArMapInfoInterface.
 *   - Extra Data Methods: These are essentially the "leftovers" -- i.e. 
 *     methods that are related directly to map data but which do not 
 *     fit into any of the above categories.  They are defined in the 
 *     ArMapSupplementInterface.
 *   - Callback Methods:  Users of the Aria map may install callbacks onto
 *     the map in order to be notified when the map contents has changed.
 *     These methods are defined below.
 *   - File and I/O Methods: Methods to read and write map files are also
 *     included below.  In addition, the MD5 checksum of the map contents
 *     may be calculated.
 *
 * TODO: 
 *  - Possibly make the calculation of checksums optional?
**/
class ArMapInterface : public ArHasFileName,
                       public ArMapInfoInterface,
                       public ArMapObjectsInterface,
                       public ArMapScanInterface,
                       public ArMapSupplementInterface
{
public:

  enum {
    MAX_MAP_NAME_LENGTH = 512 ///< Maximum length of the map file's name
  };

  AREXPORT static const char *MAP_CATEGORY_2D;
  AREXPORT static const char *MAP_CATEGORY_2D_MULTI_SOURCES;
  /// Superset of multi-sources; includes advanced Info types, CairnInfo and CustomInfo
  AREXPORT static const char *MAP_CATEGORY_2D_EXTENDED;
  /// Superset of extended; includes group objects and parent maps
  AREXPORT static const char *MAP_CATEGORY_2D_COMPOSITE;


  /// Helper method creates a full file path name from the given components.
  AREXPORT static std::string createRealFileName(const char *baseDirectory,
                                                 const char *fileName,
                                                 bool isIgnoreCase);

  /// Constructor 
  AREXPORT ArMapInterface() {}

  /// Destructor
  AREXPORT virtual ~ArMapInterface(void) {}


  /// Clears the map, removing all info, objects and data points and lines.
  AREXPORT virtual void clear() = 0;

  /// Sets this map to be "equivalent" to the given other map.
  /**
   * Modifies this map so that is effectively a copy of the given map.  All info,
   * objects, and data points and lines in the other map are copied and stored in 
   * this map.
   * @param other a pointer to the ArMapInterface to be copied; must not be NULL
   * @return bool true if the map was successfully copied to this one; false if 
   * an error occurred
  **/
  AREXPORT virtual bool set(ArMapInterface *other) = 0;

  /// Creates a new map that is "equivalent" to this map.
  /**
   * Creates a new map that is effectively a copy of this map.  Note, however,
   * that the returned map may not be of exactly the same class (so the term
   * "clone" is being used somewhat loosely).  In particular, if the active ArMap
   * that is associated with the robot configuration is cloned, then the resulting
   * map will be simpler and not associated with the robot configuration.
   * @return ArMapInterface * a new copy of this map
   * @javanote Use cloneMap() instead
  **/
  AREXPORT virtual ArMapInterface *clone() = 0;


  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Scan Types Methods
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// Returns a list of the scan types that are defined for this map
  /**
   * This method is not thread-safe.
   *
   * @return std::list<std::string> a list of the scan types that are defined 
   * for this map
  **/
  AREXPORT virtual std::list<std::string> getScanTypes() const = 0;

  /// Sets the scan types that are defined for this map
  /**
   * This method clears all of the exisiting scans (i.e. point and line data).
   * This method is not thread-safe.
   *
   * @param scanTypeList the list of scan type string identifiers to be set;
   * the list must not contain any duplicate entries
   * @return bool true if the scan types were successfully set; false otherwise
  **/
  AREXPORT virtual bool setScanTypes(const std::list<std::string> &scanTypeList) = 0;

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Locking / Semaphore Method
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// Lock the map instance
  AREXPORT virtual int lock() = 0;
  /// Try to lock the map instance without blocking
  AREXPORT virtual int tryLock() = 0;
  /// Unlock the map instance
  AREXPORT virtual int unlock() = 0;


  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Map Changed / Callback Methods
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// Function that will call the map changed CBs if needed
  /**
   * Users of Aria maps should invoke this method after making any changes to the
   * map.  It causes the installed map changed handlers to be invoked.
   * 
   * This method is not thread-safe.  It should be surrounded by calls to lock() 
   * and unlock().  For example:
   * 
   * <code>
   *   std::list<ArMapObject*> newMapObjects;
   *   // Add some objects...
   *   myMap->lock();
   *   myMap->setMapObjects(&newMapObjects);
   *   myMap->mapChanged();
   *   myMap->unlock();
   * </code>
   *
   * Note that this method is automatically invoked under some circumstances
   * (such as when the map file is re-read following a change to the robot
   * configuration).  Also note that this method will not invoke any callbacks
   * if the map has not been modified via an explicit call to a set method.
   *
   * @see addMapChangedCB
   * @see addPreMapChangedCB
  **/
  AREXPORT virtual void mapChanged(void) = 0;


  /// Adds a callback that is invoked when the map has been changed.
  /**
   * The given functor should assume that the map has been lock()-ed when
   * it is invoked. It should also not attempt to make changes to the 
   * mapChanged() callback list during the invoke method.
   * This method is not thread-safe.
   *
   * This method is just a wrapper for compatibility, the one that
   * takes position as an integer is the main one that should be used
   * now.
   * 
   * @param functor a pointer to the ArFunctor to be invoked; must be non-NULL
   * @param position the ArListPos::Pos indication at which to add the functor
   * (i.e. at the beginning or at the end of the callback list)
  **/
  AREXPORT virtual void addMapChangedCB(ArFunctor *functor, 
					ArListPos::Pos position);


  /// Adds a callback that is invoked when the map has been changed.
  /**
   * The given functor should assume that the map has been lock()-ed when
   * it is invoked. It should also not attempt to make changes to the 
   * mapChanged() callback list during the invoke method.
   * This method is not thread-safe.
   *
   * @param functor a pointer to the ArFunctor to be invoked; must be non-NULL
   *
   * @param position this indicates the order in which the functors
   * will be called, the nominal range is 0 to 100, highest is called first
  **/
  AREXPORT virtual void addMapChangedCB
                            (ArFunctor *functor, 
			     int position = 50) = 0;

  /// Removes a callback called when the map has been changed
  /**
   * This method is not thread-safe.
   *
   * @param functor a pointer to the ArFunctor to be removed; must be non-NULL
  **/
  AREXPORT virtual void remMapChangedCB(ArFunctor *functor) = 0;

  /// Adds a callback called before the map changed callbacks are called
  /**
   * The "pre-map-changed callbacks" are invoked *after* the map has been 
   * changed, but before the other "map-changed callbacks" are invoked.
   * This method is not thread-safe.
   * 
   * This method is just a wrapper for compatibility, the one that
   * takes position as an integer is the main one that should be used
   * now.
   *
   * @param functor a pointer to the ArFunctor to be invoked; must be non-NULL
   * @param position the ArListPos::Pos indication at which to add the functor
   * (i.e. at the beginning or at the end of the callback list)
   *
   * @swignote call as addPreMapChangedCBPos() if passing an ArListPos.Pos
   * object for @a position rather than an int
  **/
  AREXPORT virtual void addPreMapChangedCB(ArFunctor *functor, ArListPos::Pos position);

  /// Adds a callback called before the map changed callbacks are called
  /**
   * The "pre-map-changed callbacks" are invoked *after* the map has been 
   * changed, but before the other "map-changed callbacks" are invoked.
   * This method is not thread-safe.
   * 
   * @param functor a pointer to the ArFunctor to be invoked; must be non-NULL
   *
   * @param position this indicates the order in which the functors
   * will be called, the nominal range is 0 to 100, highest is called
   * first
  **/
  AREXPORT virtual void addPreMapChangedCB
                          (ArFunctor *functor,
                           int position = 50) = 0;


  /// Removes the specified "pre-map-changed callback".
  /**
   * This method is not thread-safe.
   *
   * @param functor a pointer to the ArFunctor to be removed; must be non-NULL
   **/
  AREXPORT virtual void remPreMapChangedCB(ArFunctor *functor) = 0;


  /// Sets the level at which to log information about the map changed callbacks
  AREXPORT virtual void setMapChangedLogLevel(ArLog::LogLevel level) = 0; 

  /// Returns the level at which information about the map changed callbacks is logged
  AREXPORT virtual ArLog::LogLevel getMapChangedLogLevel(void) = 0; 


  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Persistence
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  

  /// Writes all of the map to the given text-based functor 
  /**
   * This method is not thread-safe
   * @param functor a pointer to the ArFunctor1 to which to write the map 
   * header as text lines
   * @param endOfLineChars the const char * string to use as an end-of-line 
   * indicator
  **/
  AREXPORT virtual void writeToFunctor(ArFunctor1<const char *> *functor, 
 			                                const char *endOfLineChars) = 0;

  /// Writes the map header information and objects to a text-based functor.
  /**
   * This method writes all of the map scan headers, the info arguments, and 
   * the Cairn map objects to the given functor.  It does not write the actual 
   * scan point or line segment data (nor the header lines that introduce the
   * data).
   * This method is not thread-safe.
   * 
   * @param functor a pointer to the ArFunctor1 to which to write the map 
   * header as text lines
   * @param endOfLineChars the const char * string to use as an end-of-line 
   * indicator
   * @param isOverrideAsSingleScan a bool set to true if only a single scan 
   * header should be written; this is generally the "summary scan" and is 
   * used to maintain backwards compatibility with client applications that
   * do not expect multiple scan types in a single map.
   * @param maxCategory if given, limit map category
  **/
  AREXPORT virtual void writeObjectsToFunctor(ArFunctor1<const char *> *functor, 
 			                                        const char *endOfLineChars,
                                              bool isOverrideAsSingleScan = false,
                                              const char *maxCategory = NULL) = 0;

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // File I/O Methods
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// Adds a callback to be invoked before the map file is written.
  /**
   * @param functor the ArFunctor * callback to be added
   * @param position the ArListPos::Pos that specifies whether the callback
   * should be added at the front or the back of the list
  **/
  AREXPORT virtual void addPreWriteFileCB(ArFunctor *functor,
                                          ArListPos::Pos position = ArListPos::LAST) = 0;

  /// Removes the given callback from the list of pre-write callbacks.
  /**
   * @param functor the ArFunctor * callback to be removed 
  **/
  AREXPORT virtual void remPreWriteFileCB(ArFunctor *functor) = 0;

  /// Adds a callback to be invoked after the map file is written.
  /**
   * @param functor the ArFunctor * callback to be added 
   * @param position the ArListPos::Pos that specifies whether the callback
   * should be added at the front or the back of the list
  **/
  AREXPORT virtual void addPostWriteFileCB(ArFunctor *functor,
                                           ArListPos::Pos position = ArListPos::LAST) = 0;

  /// Removes the given callback from the list of post-write callbacks.
  /**
   * @param functor the ArFunctor * callback to be removed 
  **/
  AREXPORT virtual void remPostWriteFileCB(ArFunctor *functor) = 0;

#ifndef SWIG
  /// Reads the map from the specified file
  /**
   * If the file is successfully read into the map, then this method calls
   * mapChanged() afterwards to invoke the installed callbacks.
   * 
   * This method automatically calls lock() and unlock() during operation.  Do 
   * not call this method if the map is already locked.
   *
   * @param fileName the name of the file to read; Unless an absolute path
   * to a file is given (starting with "/" or "\" or, on Windows, a drive letter
   * root such as "C:\", "D:\", etc.), it is combined 
   * with this map's base directory (see getBaseDirectory()) to form the complete file path name; must be 
   * non-NULL
   * @param errorBuffer a pointer to a char buffer in which specific read errors 
   * can be recorded; if NULL, then the return value is the only success indication
   * @param errorBufferLen the size_t of the error buffer
   * @param md5DigestBuffer an optional pointer to a buffer in which to store the
   * calculated checksum of the map; if NULL, then the checksum is not output
   * @param md5DigestBufferLen the size_t of the checksum buffer
   * @return bool true if the file was successfully read and the map was populated;
   * false if an error occurred
   * @see ArMD5Calculator
  **/
  AREXPORT virtual bool readFile(const char *fileName, 
 			                           char *errorBuffer = NULL, 
                                 size_t errorBufferLen = 0,
                                 unsigned char *md5DigestBuffer = NULL,
                                 size_t md5DigestBufferLen = 0) = 0;

  /// Writes the map to the specified file
  /**
   * By default, this method automatically calls lock() and unlock() during its
   * operation. If the map is already locked when the file needs to be written,
   * then set the internalCall parameter to true to override the default locking
   * behavior
   *
   * @param fileName the const char * name of the file to written; it is combined 
   * with the getBaseDirectory() to form the complete file path name; must be 
   * non-NULL
   * @param internalCall a bool set to true if writeFile is being called while 
   * the map is already locked; set to false to indicate that the map should 
   * lock itself during the method
   * @param md5DigestBuffer an optional pointer to a buffer in which to store the
   * calculated checksum of the map; if NULL, then the checksum is not output
   * @param md5DigestBufferLen the size_t of the checksum buffer
   * @param fileTimestamp the time_t to which to set the file write time; in 
   * general, this should be left as -1 to indicate that the actual write time is
   * desired; a real time value can be used to synchronize the map across many 
   * robots
   * @return bool true if the file was successfully written; false if an error
   * occurred
   * @see ArMD5Calculator
  **/
  AREXPORT virtual bool writeFile(const char *fileName, 
                                  bool internalCall = false,
                                  unsigned char *md5DigestBuffer = NULL,
                                  size_t md5DigestBufferLen = 0,
                                  time_t fileTimestamp = -1) = 0;
#endif

#ifndef SWIG
  /// Returns information about the map file that was read.
  /** @swigomit */
  AREXPORT virtual struct stat getReadFileStat() const = 0;
#endif

  /// Retrieves the map ID.
  /**
   * The map ID is a unique identifier based on the map file name and the
   * checksum data.  (Perhaps more accurately, it is highly likely to be 
   * unique during normal usage.)  
   * @param mapIdOut a pointer to the ArMapId to be set 
   * @param isInternalCall a bool set to true only when getMapId is called
   * within the context of a method that has already locked the map; if 
   * false, then the map is locked by this method
   * @return bool true if the map ID was successfully set; false, otherwise
  **/
  AREXPORT virtual bool getMapId(ArMapId *mapIdOut,
                                 bool isInternalCall = false) = 0;

  /// Calculates the checksum of the map.
  /**
   * @param md5DigestBuffer the unsigned char buffer in which to store
   * the calculated checksum
   * @param md5DigestBufferLen the length of the md5DigestBuffer; should
   * be ArMD5Calculator::DIGEST_LENGTH
   * @return bool true if the checksum was successfully calculated; 
   * false if an error occurrred
   * @see ArMD5Calculator
  **/
  AREXPORT virtual bool calculateChecksum(unsigned char *md5DigestBuffer,
                                          size_t md5DigestBufferLen) = 0;


  /// Gets the base directory
  AREXPORT virtual const char *getBaseDirectory(void) const = 0;
  /// Sets the base directory
  AREXPORT virtual void setBaseDirectory(const char *baseDirectory) = 0;

  /// Gets the temp directory
  AREXPORT virtual const char *getTempDirectory(void) const = 0;
  /// Sets the temp directory
  AREXPORT virtual void setTempDirectory(const char *tempDirectory) = 0;


  /// Prepends the appropriate directory information on the given filename.
 	AREXPORT virtual std::string createRealFileName(const char *fileName) = 0;

  /// Gets the fileName that was loaded
  AREXPORT virtual const char *getFileName(void) const = 0;

  /// Sets the name of the source and the file from which the map was loaded.
  /**
   * This method is primarily used to track when a map has been received
   * from the central server or another robot.  The source and file name
   * can be retrieved from the map ID.
   * @param sourceName the const char * name of the central server or robot
   * from which the map was obtained
   * @param fileName the const char * name of the map file on the source
   * @param isInternalCall a bool set to true if this method is being called
   * while the map is locked; if false, then this method will lock the map
  **/
  AREXPORT virtual void setSourceFileName(const char *sourceName,
                                          const char *fileName,
                                          bool isInternalCall = false) = 0;



  /// Determines whether the map file needs to be re-read.
  /**
   * This method is primarily applicable to the active Aria map that is 
   * associated with the robot configuration.  It checks to see if the map 
   * file has been modified since it was read, and re-reads it if necessary.  
   * The method may do nothing for "simpler" maps.
  **/
  AREXPORT virtual bool refresh() = 0;

  /// Sets whether we ignore empty file names or fail if we encounter one
  /**
   * This method is primarily applicable to the active Aria map that is 
   * associated with the robot configuration. 
  **/
  virtual void setIgnoreEmptyFileName(bool ignore) = 0;
  /// Gets whether we ignore empty file names or fail if we encounter one
  /**
   * This method is primarily applicable to the active Aria map that is 
   * associated with the robot configuration. 
  **/
  virtual bool getIgnoreEmptyFileName(void) = 0;
  /// Sets whether we ignore case or not
  /**
   * This method is primarily applicable to the active Aria map that is 
   * associated with the robot configuration. 
  **/
  virtual void setIgnoreCase(bool ignoreCase = false) = 0;
  /// Gets whether we ignore case or not
  /**
   * This method is primarily applicable to the active Aria map that is 
   * associated with the robot configuration. 
  **/
  virtual bool getIgnoreCase(void) = 0;


  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Inactive Section
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// Provides direct access to the inactive map info.
  /**
   * The "inactive" info is a section of the Aria map that applications may 
   * use to store "_XInfo:" lines that are not currently active or applicable.
   * The inactive info will be written to the map file, but it will not be 
   * included in any of the inherited ArMapInfoInterface calls (e.g. getInfo(type)).
   * This is primarily intended for advanced specialized use where something
   * needs to be removed from the map file, but it may be necessary to restore
   * it later.
   * This method is not thread-safe.
   * @return ArMapInfoInterface * a pointer to the inactive map info section
  **/
  AREXPORT virtual ArMapInfoInterface *getInactiveInfo() = 0;

  /// Provides direct access to the inactive map objects.
  /**
   * The "inactive" objects is a section of the Aria map that applications may 
   * use to store "_Cairn" lines that are not currently active or applicable.
   * The inactive objects will be written to the map file, but they will not be 
   * included in any of the inherited ArMapObjectsInterface calls 
   * (e.g. getMapObjects()).  This is primarily intended for advanced specialized 
   * use where an object needs to be removed from the map file, but it may be 
   * necessary to restore it later.
   * This method is not thread-safe.
   * @return ArMapObjectsInterface * a pointer to the inactive map objects section
  **/
  AREXPORT virtual ArMapObjectsInterface *getInactiveObjects() = 0;

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Child Objects Section
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// Provides direct access to the child map objects which are used to define group templates.
  AREXPORT virtual ArMapObjectsInterface *getChildObjects() = 0;

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  // Miscellaneous
  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  /// Returns the optional parameters associated with a map object, or NULL if none.
  /**
   * The Aria map provides an advanced feature that allows a parameter list
   * to be defined for custom map object types.  (Refer to the ArMap MapFileFormat
   * for more information.)  
   *
   * This convenience method provides access to the parameter values for a 
   * specified map object.  It is basically a shortcut for searching and 
   * parsing the CairnInfo argument list.  Unlike the CairnInfo arguments 
   * (which also include an introduction and map object name), the
   * argument builder returned by this method only contains the parameter 
   * values.  Also note that if the argument builder contains string 
   * parameters, then they may be surrounded by quotes.
   *
   * The returned pointer should not be stored, modified, or deleted.  
   *
   * See setMapObjectParams for important information about changing the
   * parameter values or the associated map object.
   *
   * This method is not thread-safe.  (The call and use of the returned 
   * ArArgumentBuilder should be surrounded by calls to lock()/unlock().)
   *
   * @param mapObjectName the unique char * name of the map object whose
   * parameters are to be retrieved
   * @return ArArgumentBuilder * a pointer to the map object's parameter
   * values; 
  **/
  AREXPORT virtual ArArgumentBuilder *findMapObjectParams
                                          (const char *mapObjectName) = 0;


  /// Sets the optional parameters associated with a map object.
  /**
   * This method sets the parameter values for the specified map object.
   * It should be used only for custom map object types that have a 
   * parameter list defined in the MapInfo.  (Refer to the ArMap MapFileFormat
   * for more information.)  
   *
   * Like findMapObjectParams(), this is basically a convenience method
   * that simplifies access to the data stored in the CairnInfo argument
   * list.  
   *
   * If the given params is non-NULL, then it is copied and stored in 
   * the map.  (Note that this deletes the pointer previously returned by 
   * findMapObjectParams(mapObjectName).  Do not store that pointer.)
   * It is entirely the caller's responsibility to ensure that the 
   * params arg count and types are correct.
   * 
   * If the given params is NULL, then the parameter information for the 
   * map object is cleared.  If a mapObjectWithParams is to be deleted,
   * then setMapObjectParams(mapObjectWithParams->getName(), NULL) must
   * be called first.
   *
   * @param mapObjectName the unique char * name of the map object whose
   * parameters are to be updated
   * @param params the ArArgumentBuiler * containing the new parameter 
   * values; if NULL, then the parameter information for the map object
   * is deleted
   * @param changeDetails an optional pointer to the ArMapChangeDetails in 
   * which to accumulate a description of the changes to the map; if NULL, 
   * then changes are not tracked
   * @see ArMapChangeDetails
  */
  AREXPORT virtual bool setMapObjectParams(const char *mapObjectName,
                                           ArArgumentBuilder *params,
                                           ArMapChangeDetails *changeDetails = NULL) = 0;

  
  /// Returns a list of the map file lines that were not recognized.
  /**
   * Ideally, the returned list should be empty.  The remainder list is 
   * primarily used to determine whether the editor is up-to-date for the 
   * current map version and to try to minimize lost data.
   * 
   * Note that this method returns a pointer to the actual list that is stored 
   * in the map object.  It is not safe to store this pointer.  
   *
   * This method is not thread-safe.
  **/
  AREXPORT virtual std::list<ArArgumentBuilder *> *getRemainder() = 0;

  /// Turn on this flag to reduce the number of verbose log messages.
  AREXPORT virtual void setQuiet(bool isQuiet) = 0;
 	

  /** Public for ArQMapProducer **/

  /// Parses a map line
  AREXPORT virtual bool parseLine(char *line) = 0;
  /// Says that the parsing by lines is done and to use the parsed data
  AREXPORT virtual void parsingComplete(void) = 0;

  // When loading a map, returns whether all header, objects, and lines have completed loading.
  /**
  * This value returns true once the first DATA tag has been reached.  
  * The rest of the map contains data points.
  **/
  AREXPORT virtual bool isLoadingDataStarted() = 0;

  // When loading a map, returns whether all header and objects have completed loading.
  /**
  * This value returns true once the first LINES tag has been reached.  
  * The rest of the map contains data lines and points.
  **/
  AREXPORT virtual bool isLoadingLinesAndDataStarted() = 0;

}; // end class ArMapInterface

#endif // ARMAPINTERFACE_H