ROSOptionController.hpp

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/*
 * ROSOptionController.hpp
 *
 *  Created on: Oct 18, 2011
 *      Author: mriedel
 */

#ifndef ROSOPTIONCONTROLLER_HPP_
#define ROSOPTIONCONTROLLER_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <telekyb_base/ROS/ROSBaseOption.hpp>
#include <telekyb_base/ROS/ROSOptionContainer.hpp>

#include <telekyb_base/Options/OptionListener.hpp>

#include <ros/ros.h>

//stl
#include <set>

#include <telekyb_srvs/StringOutput.h>


namespace TELEKYB_NAMESPACE
{
// forward
class ROSOptionControllerOptions;

// contains all ROSOptions (in BaseClass Representation)
class ROSOptionController : public OptionListener<double>
{
private:
        static std::set<ROSBaseOption*> rosOptions;
        static std::set<ROSOptionContainer*> rosOptionContainers;

        static ROSOptionController* instance;

        // Singleton overwrites
        ROSOptionController();
        virtual ~ROSOptionController();
        ROSOptionController(const ROSOptionController &);
        ROSOptionController& operator=(const ROSOptionController &);


protected:
        ROSOptionControllerOptions* options;
        // ROS Stuff
        ros::NodeHandle optionHandle;
        // Timer for Rosupdate
        ros::Timer optionUpdateTimer;

        // callback for Timer
        void optionUpdateTimerCB(const ros::TimerEvent& event);

        // General Manipulation
        void createAllGetSetServices();

        void setAllToParameterServer();
        void updateAllFromParameterServer();
        void deleteAllFromParameterServer();

        // This function is like the constructor, but called directly AFTER Object creation.
        // This is needed, to make calls to Objects that depend on the Singleton and are called
        // In this initialization phase.
        void initialize();


        // ROS SERVICES
        ros::ServiceServer getOptionNodeHandleSrv;
        bool getOptionNodeHandleSrvCB(
                        telekyb_srvs::StringOutput::Request& request,
                        telekyb_srvs::StringOutput::Response& response);

public:
        const ros::NodeHandle& getOptionNodeHandle() const;
        std::string getOptionNodeHandleNamespace() const;

        // double OptionListener
        // for tRosOptionUpdatePeriod
        virtual void optionDidChange(const Option<double>* option_);

        // static stuff
        static bool addROSOption(ROSBaseOption* rosOption);
        static bool removeROSOption(ROSBaseOption* rosOption);

        static bool addROSOptionContainer(ROSOptionContainer* rosOptionContainer);
        static bool removeROSOptionContainer(ROSOptionContainer* rosOptionContainer);

        // Singleton Stuff
        static ROSOptionController& Instance();
        static const ROSOptionController* InstancePtr();
        static void ShutDownInstance();
        static bool hasInstance();
};

}

#endif /* ROSOPTIONCONTROLLER_HPP_ */