ArCentralManager.h

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/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     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 2 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, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARCENTRALMANAGER
#define ARCENTRALMANAGER

#include "Aria.h"
#include "ArServerBase.h"
#include "ArCentralForwarder.h"

class ArCentralManager : public ArASyncTask
{
public:
  AREXPORT ArCentralManager(ArServerBase *robotServer, ArServerBase *clientServer);
  AREXPORT virtual ~ArCentralManager();
  AREXPORT void addForwarderAddedCallback(
          ArFunctor1<ArCentralForwarder *> *functor, int priority = 0);
  AREXPORT void remForwarderAddedCallback(
          ArFunctor1<ArCentralForwarder *> *functor);
  AREXPORT void addForwarderRemovedCallback(
          ArFunctor1<ArCentralForwarder *> *functor, int priority = 0);
  AREXPORT void remForwarderRemovedCallback(
          ArFunctor1<ArCentralForwarder *> *functor);     
  AREXPORT void netClientList(ArServerClient *client, ArNetPacket *packet);
  AREXPORT void netServerSwitch(ArServerClient *client, ArNetPacket *packet);
  AREXPORT virtual void *runThread(void *arg);
protected:
  void close(void);
  ArServerBase *myRobotServer;
  ArServerBase *myClientServer;
  double myHeartbeatTimeout;
  std::list<ArSocket *> myClientSockets;
  std::list<std::string> myClientNames;
  std::list<ArCentralForwarder *> myForwarders;
  std::set<int> myUsedPorts;
  ArMutex myCallbackMutex;
  std::multimap<int, 
      ArFunctor1<ArCentralForwarder *> *> myForwarderAddedCBList;
  std::multimap<int, 
      ArFunctor1<ArCentralForwarder *> *> myForwarderRemovedCBList;
  ArMutex myDataMutex;
  int myOnSocket;
  ArFunctor2C<ArCentralManager, ArServerClient *, 
      ArNetPacket *> myNetSwitchCB;
  ArFunctor2C<ArCentralManager, ArServerClient *, 
      ArNetPacket *> myNetClientListCB;
  ArFunctorC<ArCentralManager> myAriaExitCB;
};


#endif // ARSERVERSWITCHMANAGER

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