Map2DClient.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library 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
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef YARP_DEV_MAP2DCLIENT_H
#define YARP_DEV_MAP2DCLIENT_H
 
 
#include <yarp/os/Network.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <yarp/dev/IMap2D.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/MapGrid2D.h>
#include <yarp/dev/Map2DLocation.h>
#include <yarp/dev/Map2DArea.h>
#include <yarp/os/Semaphore.h>
#include <yarp/os/Time.h>
#include <yarp/dev/PolyDriver.h>
 
 
class Map2DClient :
        public yarp::dev::DeviceDriver,
        public yarp::dev::Nav2D::IMap2D
{
protected:
    yarp::os::Port      m_rpcPort_to_Map2DServer;
    std::string         m_local_name;
    std::string         m_map_server;
 
public:
 
     /* DeviceDriver methods */
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    /* The following methods belong to IMap2D interface */
    bool     clearAllMaps  () override;
    bool     remove_map (std::string map_name) override;
    bool     store_map  (const yarp::dev::Nav2D::MapGrid2D& map) override;
    bool     get_map    (std::string map_name, yarp::dev::Nav2D::MapGrid2D& map) override;
    bool     get_map_names(std::vector<std::string>& map_names) override;
 
    bool     storeLocation(std::string location_name, yarp::dev::Nav2D::Map2DLocation loc) override;
    bool     storeArea(std::string location_name, yarp::dev::Nav2D::Map2DArea area) override;
    bool     storePath(std::string path_name, yarp::dev::Nav2D::Map2DPath path) override;
 
    bool     getLocation(std::string location_name, yarp::dev::Nav2D::Map2DLocation& loc) override;
    bool     getArea(std::string location_name, yarp::dev::Nav2D::Map2DArea& area) override;
    bool     getPath(std::string path_name, yarp::dev::Nav2D::Map2DPath& path) override;
 
    bool     renameLocation(std::string original_name, std::string new_name) override;
    bool     renameArea(std::string original_name, std::string new_name) override;
    bool     renamePath(std::string original_name, std::string new_name) override;
 
    bool     deleteLocation(std::string location_name) override;
    bool     deleteArea(std::string location_name) override;
    bool     deletePath(std::string path_name) override;
 
    bool     getLocationsList(std::vector<std::string>& locations) override;
    bool     getAreasList(std::vector<std::string>& locations) override;
    bool     getPathsList(std::vector<std::string>& paths) override;
 
    bool     clearAllLocations() override;
    bool     clearAllAreas() override;
    bool     clearAllPaths() override;
};
 
#endif // YARP_DEV_MAP2DCLIENT_H