ClientManager.h

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/*
 *  This file is part of ocra-icub.
 *  Copyright (C) 2016 Institut des Systèmes Intelligents et de Robotique (ISIR)
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef CLIENT_MANAGER_H
#define CLIENT_MANAGER_H

#include <iostream>
#include <memory>

#include <yarp/os/RFModule.h>
#include <yarp/os/RpcServer.h>

#include "ocra-recipes/ControllerClient.h"
#include <ocra/util/Macros.h>



namespace ocra_recipes
{
class ClientManager : public yarp::os::RFModule
{
DEFINE_CLASS_POINTER_TYPEDEFS(ClientManager)
public:
    ClientManager(std::shared_ptr<ControllerClient> customClient, bool suppressPerformanceWarnings=false);

    ~ClientManager();

    bool configure(yarp::os::ResourceFinder &rf);

    int launchClient();

    bool interruptModule();

    bool close();

    bool updateModule();

    void printHelp();

    virtual std::string getManagerName();


public:
    class moduleCallback : public yarp::os::PortReader
    {

    public:

        moduleCallback(ClientManager& newModuleRef);

        virtual bool read(yarp::os::ConnectionReader& connection);

    private:
        ClientManager& moduleRef; 
    };


private:
    void callbackParser(yarp::os::Bottle& message, yarp::os::Bottle& reply);

protected:
    virtual void customCallbackParser(yarp::os::Bottle& message, yarp::os::Bottle& reply);
    virtual bool customUpdateModule();


private:
    std::shared_ptr<ControllerClient> client;               
    std::shared_ptr<moduleCallback> rpcCallback;                 
    yarp::os::RpcServer rpcPort;                            
    yarp::os::Log yLog;                                     
    int expectedClientPeriod;                         
    double avgTime;                                         
    double stdDev;                                          
    double avgTimeUsed;                                     
    double stdDevUsed;                                      
    std::string rpcPortName;                                
    static int CONTROLLER_CLIENT_MANAGER_COUNT;              
    int moduleNumber;                                       
    bool suppressWarnings;

};

} /* ocra_recipes */

#endif