TeleKybCore.hpp

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/*
 * TeleKybCore.hpp
 *
 *  Created on: Nov 15, 2011
 *      Author: mriedel
 */

#ifndef INTERFACE_TELEKYBCORE_HPP_
#define INTERFACE_TELEKYBCORE_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <telekyb_interface/OptionController.hpp>
#include <telekyb_interface/BehaviorController.hpp>

#include <ros/ros.h>

namespace TELEKYB_INTERFACE_NAMESPACE {

class TeleKybCore {
private:
        // use factory to get System
        TeleKybCore(int robotID_, const std::string& mainHandleNamespace);

protected:
        int robotID;
        ros::NodeHandle mainNodeHandle;

        // OptionController requires TelekybSystem :)
        OptionController* optionController;

        // BehaviorController requires TelekybSystem & OptionController.
        BehaviorController* behaviorController;

        // create Controllers
        void createBehaviorController();
        void createOptionController();

        // System check.
        bool isOk() const;

public:
        virtual ~TeleKybCore();

        static TeleKybCore* getTeleKybCore(int robotID_);
        static bool getTeleKybCoreMainNodeHandle(int robotID_, ros::NodeHandle& nodeHandle_, double waitTime_ = 0.0);

        OptionController* getOptionController() const;
        BehaviorController* getBehaviorController() const;


};

}

#endif /* TELEKYBSYSTEM_HPP_ */