IntrospectionClient.hh

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/*
 * Copyright (C) 2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GAZEBO_UTIL_INTROSPECTION_CLIENT_HH_
#define GAZEBO_UTIL_INTROSPECTION_CLIENT_HH_

#include <chrono>
#include <functional>
#include <memory>
#include <set>
#include <string>
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace util
  {
    // Forward declare private data classes.
    class IntrospectionClientPrivate;


    class GZ_UTIL_VISIBLE IntrospectionClient
    {
      public: IntrospectionClient();

      public: virtual ~IntrospectionClient();

      public: std::set<std::string> WaitForManagers(
                  const std::chrono::milliseconds _timeOut =
                  std::chrono::milliseconds::zero()) const;

      public: std::set<std::string> Managers() const;

      public: bool NewFilter(const std::string &_managerId,
                             const std::set<std::string> &_newItems,
                             std::string &_filterId,
                             std::string &_newTopic) const;

      public: bool NewFilter(const std::string &_managerId,
                             const std::set< std::string> &_newItems,
                             const std::function <void(
                                 const std::string &_filterId,
                                 const std::string &_newTopic,
                                 const bool _result)> &_cb) const;

      public: bool UpdateFilter(const std::string &_managerId,
                                const std::string &_filterId,
                                const std::set<std::string> &_newItems) const;

      public: bool UpdateFilter(const std::string &_managerId,
                                const std::string &_filterId,
                                const std::set<std::string> &_newItems,
                                const std::function <void(
                                    const bool _result)> &_cb) const;

      public: bool RemoveAllFilters() const;

      public: bool RemoveFilter(const std::string &_managerId,
                                const std::string &_filterId) const;

      public: bool RemoveFilter(const std::string &_managerId,
                                const std::string &_filterId,
                                const std::function <void(
                                    const bool _result)> &_cb) const;

      public: bool Items(const std::string &_managerId,
                         std::set<std::string> &_items) const;

      public: bool Items(const std::string &_managerId,
                         const std::function <void(
                             const std::set<std::string> &_items,
                             const bool _result)> &_cb) const;

      public: bool IsRegistered(const std::string &_managerId,
                                const std::string &_item) const;

      public: bool IsRegistered(const std::string &_managerId,
                                const std::set<std::string> &_items) const;

      private: bool IsManagerUsed(const std::string &_managerId) const;

      private: std::unique_ptr<IntrospectionClientPrivate> dataPtr;
    };
  }
}
#endif