ObjectManager.h

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#ifndef OBJECTMANAGER_HPP_
#define OBJECTMANAGER_HPP_

#include <ros/ros.h>
#include <string>
#include <map>
#include "asr_object_database/ObjectMetaData.h"

namespace object_database {

    using namespace asr_object_database;

    typedef ObjectMetaData::Response ObjectTypeResponse;
        typedef ObjectTypeResponse::Ptr ObjectTypeResponsePtr;

        class ObjectManager {
        private:
                struct State {
                private:
                        ros::NodeHandle mNodeHandle;
                public:
                        ros::ServiceClient object_type_service_client;
            std::map<std::pair<std::string, std::string>, ObjectMetaData::Response::Ptr> object_type_cache;

                        State() : mNodeHandle() {
                object_type_service_client = mNodeHandle.serviceClient<ObjectMetaData>("/asr_object_database/object_meta_data");
                        }
                };

                static boost::shared_ptr<State> InstancePtr() {
                        static const boost::shared_ptr<State> statePtr = boost::shared_ptr<State>(new State());
                        return statePtr;
                }


        public:
                ObjectManager() {}

        ObjectTypeResponsePtr get(std::string objectTypeName, std::string recognizer) {
                        boost::shared_ptr<State> statePtr = InstancePtr();

                        if (!statePtr->object_type_service_client.exists()) {
                                return ObjectTypeResponsePtr();
                        }

            ObjectTypeResponsePtr responsePtr = statePtr->object_type_cache[std::make_pair(objectTypeName, recognizer)];

                        if (!responsePtr) {          
                ObjectMetaData serviceCall;
                                serviceCall.request.object_type = objectTypeName;
                serviceCall.request.recognizer = recognizer;
                                statePtr->object_type_service_client.call(serviceCall);
                                if (!serviceCall.response.is_valid) {
                                        return ObjectTypeResponsePtr();
                                }

                responsePtr = ObjectTypeResponsePtr(new ObjectMetaData::Response(serviceCall.response));
                statePtr->object_type_cache[std::make_pair(objectTypeName, recognizer)] = responsePtr;
                        }
                        return responsePtr;
                }
        };
}



#endif /* OBJECTMANAGER_HPP_ */