C:/cmcintos/defOrgs/source/cognitive/abc/ControlCenter.h

#if defined (_MSC_VER) && (_MSC_VER >= 1000)
#pragma once
#endif
#ifndef _INC_CONTROLCENTER
#define _INC_CONTROLCENTER

#include "Behavior.h"
#include "Physics.h"
#include "Sensor.h"
#include "itkSmartPointer.h"
#include <itkLightObject.h> 
#include <vector>//Not to be confused with VNL vectors

namespace mial{


        template<class Type,int nDims>
        class ControlCenter:public itk::LightObject
        {
        public:
                //Smartpointers
                typedef ControlCenter Self;
                typedef itk::SmartPointer<Self>  Pointer;
                typedef itk::SmartPointer<const Self>  ConstPointer;
                typedef itk::WeakPointer<const Self>  ConstWeakPointer;
                //itkNewMacro(Self);
                
                ~ControlCenter();


                virtual bool update(){
                        if(behaviorToRun.IsNull())
                                {decideNextBehavior();runNextBehavior();}
                        else if(behaviorToRun->isFinished())
                                {behaviorToRun->cleanUp();decideNextBehavior();runNextBehavior();}
                        else
                                {updateCurrentBehavior();}
                        return false;};

                virtual bool setAllPhysics(Physics<Type,nDims> *p){for(int i=0;i<numBehaviors;i++){behaviorList[i]->setPhysLayer(p);} return false;};


                virtual Behavior<Type,nDims>* findBehavior(const std::string name);

                virtual int getNumBehaviors(){return numBehaviors;}; // inline


                virtual bool addBehavior(Behavior<Type,nDims> * b);
        protected:

                ControlCenter();


                std::vector<typename Behavior<Type,nDims>::Pointer> behaviorList;

                std::vector<Sensor::Pointer> sensorList;

                typename Behavior<Type,nDims>::Pointer behaviorToRun;

                //std::stringstream behaviorToRunArgs;
                typename Behavior<Type,nDims>::behaviorIn* behaviorToRunStruct;
                
                std::stringstream * behaviorToRunStream;
                
                //bool runBehaviorByStream;

                int state;

                int numBehaviors;

                void setBehaviorToRunStream(std::stringstream *a){behaviorToRunStream = a;};

                virtual bool decideNextBehavior()=0;

                virtual bool runNextBehavior(){if(behaviorToRun.IsNotNull()){behaviorToRun->run(behaviorToRunStruct,behaviorToRunStream);}return false;};

                virtual bool updateCurrentBehavior(){behaviorToRun->update();return false;};

        };
}//end mial
#include "ControlCenter.cxx"
#endif /* _INC_CONTROLCENTER*/

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