client_context.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef RVE_RENDER_CLIENT_CLIENT_CONTEXT_H
#define RVE_RENDER_CLIENT_CLIENT_CONTEXT_H

#include "forwards.h"

#include <ros/types.h>

#include <boost/shared_ptr.hpp>

#include <string>

namespace rve_interface_gen
{
class Interface;
typedef boost::shared_ptr<Interface> InterfacePtr;
}

namespace rve_rpc
{
class Client;
}

namespace ros
{
class NodeHandle;
}

namespace rve_render_client
{

class ClientContext
{
public:
  ClientContext(const std::string& name, const ros::NodeHandle& nh);
  ~ClientContext();

  InterfaceHandle lookupInterface(const std::string& name) const;
  rve_interface_gen::Interface* getInterface(InterfaceHandle handle) const;

  template<typename T>
  T* getInterface(InterfaceHandle handle) const
  {
    return static_cast<T*>(getInterface(handle));
  }

  rve_rpc::Client& getRPCClient();

  void addObject(ContextObject* obj);
  void removeObject(ContextObject* obj);
  bool hasObject(ContextObject* obj);

  void close();
  void reopen();
  bool isConnected();

  ros::NodeHandle& getNodeHandle();

private:
  struct Impl;
  typedef boost::shared_ptr<Impl> ImplPtr;
  ImplPtr impl_;
};

inline ClientContextPtr createContext(const std::string& name, const ros::NodeHandle& nh)
{
  return ClientContextPtr(new ClientContext(name, nh));
}

}

#endif // RVE_RENDER_CLIENT_CLIENT_CONTEXT_H