resource_manager.h

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 * Author: Maciej Zurad
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#ifndef ROBOT_ACTIVITY_RESOURCE_RESOURCE_MANAGER_H
#define ROBOT_ACTIVITY_RESOURCE_RESOURCE_MANAGER_H

#include <ros/ros.h>
#include <ros/console.h>

#include <robot_activity/resource/managed_subscriber.h>
#include <robot_activity/resource/managed_serviceserver.h>

#include <vector>

namespace robot_activity
{
namespace resource
{

template <class Resource>
class ResourceManager
{
public:
  ResourceManager() : resources_() {}

  ~ResourceManager() {}

  template<typename... Args>
  typename Resource::SharedPtr add(Args&& ...args)
  {
    auto resource = std::make_shared<Resource>(std::forward<Args>(args)...);
    resources_.push_back(resource);
    return resource;
  }

  void acquireAll(const ros::NodeHandlePtr& node_handle);

  void releaseAll();

  void pauseAll();

  void resumeAll();

private:
  std::vector<typename Resource::SharedPtr> resources_;
};

template <class T>
class RMWrapper : public ResourceManager<T> {};

template<>
class RMWrapper<ManagedSubscriber> : public ResourceManager<ManagedSubscriber>
{
public:
  using ResourceManager<ManagedSubscriber>::add;

  template<typename... Args>
  ManagedSubscriber::SharedPtr subscribe(Args&& ...args)
  {
    return add(std::forward<Args>(args)...);
  }
};

template<>
class RMWrapper<ManagedServiceServer> : public ResourceManager<ManagedServiceServer>
{
public:
  using ResourceManager<ManagedServiceServer>::add;

  template<typename... Args>
  ManagedServiceServer::SharedPtr advertiseService(Args&& ...args)
  {
    return add(std::forward<Args>(args)...);
  }
};

typedef RMWrapper<ManagedSubscriber> SubscriberManager;
typedef RMWrapper<ManagedServiceServer> ServiceServerManager;

}  // namespace resource
}  // namespace robot_activity

#endif  // ROBOT_ACTIVITY_RESOURCE_RESOURCE_MANAGER_H