Dispatcher.hpp

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#ifndef JOINT_DISPATCHER_DISPATCHER_HPP
#define JOINT_DISPATCHER_DISPATCHER_HPP

#include <vector>
#include <joint_dispatcher/Input.hpp>
#include <joint_dispatcher/Output.hpp>

namespace joint_dispatcher
{
    class Dispatcher
    {
        std::vector<Input>  mInputs;
        std::vector<Output> mOutputs;

    public:
        typedef size_t ChannelID;

        ChannelID addInput(std::string const& name = "");

        ChannelID addOutput(std::string const& name, std::vector<std::string> const& jointNames);

        ChannelID addOutput(std::string const& name = "", size_t size = 0);

        ChannelID getInputByName(std::string const& name) const;

        ChannelID getOutputByName(std::string const& name) const;

        Output &getOutput(ChannelID id);
        
        void addDispatch(
                ChannelID input,  JointSelection const& inputJoints,
                ChannelID output, JointSelection const& outputJoints);

        void addDispatch(std::string const& input,
                JointSelection const& inputJoints,
                std::string const& output,
                JointSelection const& outputJoints);

        void write(ChannelID input,
                base::samples::Joints const& sample);

        void write(std::string const& input,
                base::samples::Joints const& sample);

        bool read(ChannelID output, base::samples::Joints& sample);

        bool read(std::string const& name, base::samples::Joints& sample);

        void reset();
    };
}

#endif