core.cpp

/*
 * Copyright 2014 Instituto de Sistemas e Robotica, Instituto Superior Tecnico
 *
 * This file is part of RoAH RSBB.
 *
 * RoAH RSBB 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 3 of the License, or
 * (at your option) any later version.
 *
 * RoAH RSBB 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 RoAH RSBB.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "core_includes.h"

#include "core_shared_state.h"
#include "core_public_channel.h"
#include "core_zone_manager.h"
#include "core_gui.h"
#include "core_public.h"



namespace roah_rsbb
{
  class Core
  {
      CoreSharedState ss_;
      CorePublicChannel public_channel_;
      CoreZoneManager zone_manager_;
      CoreGui gui_;
      CorePublic public_;

      Subscriber devices_sub_;

      void
      devices_callback (roah_devices::DevicesState::ConstPtr const& msg)
      {
        ss_.last_devices_state = msg;
      }

    public:
      Core ()
        : ss_()
        , public_channel_ (ss_)
        , zone_manager_ (ss_)
        , gui_ (ss_, public_channel_, zone_manager_)
        , public_ (ss_, zone_manager_)
        , devices_sub_ (ss_.nh.subscribe ("/devices/state", 1, &Core::devices_callback, this))
      {
      }
  };
}



int
main (int argc,
      char* argv[])
{
  init (argc, argv, "roah_rsbb_core");

  roah_rsbb::Core node;

  spin();

  return 0;
}