TeleKybCoreInterface.hpp

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/*
 * TeleKybCoreInterface.hpp
 *
 *  Created on: Nov 14, 2011
 *      Author: mriedel
 */

#ifndef TELEKYBCOREINTERFACE_HPP_
#define TELEKYBCOREINTERFACE_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <ros/ros.h>

#include <telekyb_srvs/StringOutput.h>

namespace TELEKYB_NAMESPACE {

class TeleKybCoreInterface {
protected:
        int robotID;

        ros::NodeHandle robotIDNodeHandle;
        ros::NodeHandle mainNodeHandle;

        // This is announces at /TeleKyb/#RobotID/getMainNodeHandle
        ros::ServiceServer getMainNodeHandle;

//      ros::ServiceServer getOptionNodeHandle;
        ros::ServiceServer getStateNodeHandle;
        ros::ServiceServer getBehaviorNodeHandle;

        bool getMainNodeHandleCB(
                        telekyb_srvs::StringOutput::Request& request,
                        telekyb_srvs::StringOutput::Response& response);
//      bool getOptionNodeHandleCB(
//                      telekyb_srvs::StringOutput::Request& request,
//                      telekyb_srvs::StringOutput::Response& response);
        bool getStateNodeHandleCB(
                        telekyb_srvs::StringOutput::Request& request,
                        telekyb_srvs::StringOutput::Response& response);
        bool getBehaviorNodeHandleCB(
                        telekyb_srvs::StringOutput::Request& request,
                        telekyb_srvs::StringOutput::Response& response);

public:
        TeleKybCoreInterface(int robotID_);
        virtual ~TeleKybCoreInterface();
};

} /* namespace telekyb */
#endif /* TELEKYBCOREINTERFACE_HPP_ */