HUD.h

#ifndef API_HUD_H
#define API_HUD_H

#include "Graphic-pkg.h"
#include <boost/bind.hpp>
#include <boost/function.hpp>
#include <set>
#include "API/Device/robot.hpp"
#include "Logging/Logger.h"
#ifdef QT_LIBRARY
#include <QtCore/QObject>
#endif


namespace API {

struct PlanningStatus
{
    PlanningStatus(bool plannerOk=false, bool isTrrt=false, unsigned int nbFails=0,double gap=0,double initTargetDist=0,double temp=-1,bool found=false):
        plannerOk(plannerOk), plannerTRRT(isTrrt),nbFails(nbFails),gap(gap),initTargetDist(initTargetDist),temperature(temp), found(found) {}
    bool plannerOk;
    bool plannerTRRT; 
    unsigned int nbFails; 
    double gap; 
    double initTargetDist; 
    double temperature; 
    bool found; 
};

class HUD
#ifdef QT_LIBRARY
        : public QObject
#endif
{
#ifdef QT_LIBRARY
    Q_OBJECT
#endif
    MOVE3D_STATIC_LOGGER;
public:
    HUD();
    static HUD* getHUD();
    static void initHUD();
    virtual ~HUD();

#ifdef QT_LIBRARY
public slots:
#endif

    void setDraw(bool enable);
    void setTextSize(double textSize);
    void setTextSize3d(double textSize3d);

    void setDrawAgentInfo(bool drawAgentInfo);
    void setDrawCost(bool drawCost);
    void setDrawAdvancedCost(bool drawAdvancedCost);
    void setDrawSearchStatus(bool drawSearchStatus);
public:
    bool isDraw();
    static void drawHUD(void);

    double textSize() const;
    double textSize3d() const;

    void setAgentStaticInfoDefault();
    const std::map<Robot *, std::string> &agentStaticInfo() const;
    void setAgentStaticInfo(const std::map<Robot *, std::string> &agentStaticInfo);

    bool getDrawAgentInfo() const;
    bool getDrawCost() const;
    bool getDrawAdvancedCost() const;
    bool getDrawSearchStatus() const;

    static PlanningStatus getPlanningStatus();

protected:

    virtual void draw();

    void printAgentInfo();
    void printCost();
    void printAdvancedCost();
    void printSearchStatus();

private:
    static std::set<HUD*> _hud_to_draw; 
    static HUD* __hud;

    std::map<Robot*,std::string> _agentStaticInfo;

    double _textSize;
    double _textSize3d;

    bool _drawAgentInfo;
    bool _drawCost;
    bool _drawAdvancedCost;
    bool _drawSearchStatus;
};

} // namespace API

#endif // API_HUD_H