ROSOptionContainer.hpp

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/*
 * ROSOptionContainer.hpp
 *
 *  Created on: Nov 18, 2011
 *      Author: mriedel
 */

#ifndef ROSOPTIONCONTAINER_HPP_
#define ROSOPTIONCONTAINER_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <ros/ros.h>

#include <telekyb_srvs/StringInput.h>
#include <telekyb_srvs/StringOutput.h>

namespace TELEKYB_NAMESPACE
{

class OptionContainer;

class ROSOptionContainer {
protected:
        OptionContainer* optionContainer;

        // Service Offered to change Options in Container
        ros::ServiceServer getService;
        ros::ServiceServer setService;

        // Callbacks
        bool getServiceCallBack(
                        telekyb_srvs::StringOutput::Request& request,
                        telekyb_srvs::StringOutput::Response& response);

        bool setServiceCallBack(
                        telekyb_srvs::StringInput::Request& request,
                        telekyb_srvs::StringInput::Response& response);

        // Creates the ROS Service to Get the Parameter with YAML Syntax.
        void createGetService();

        // Creates the ROS Service to Set the Parameter with YAML Syntax.
        void createSetService();

        // Shutdown Services
        void shutdownGetService();
        void shutdownSetService();

        // Controller is friend
        friend class ROSOptionController;

public:
        ROSOptionContainer(OptionContainer* optionContainer_);
        virtual ~ROSOptionContainer();
};

} /* namespace telekyb */
#endif /* ROSOPTIONCONTAINER_HPP_ */