entity.h

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/*
 * Copyright (C) 2014 WYSIWYD Consortium, European Commission FP7 Project ICT-612139
 * Authors: Stéphane Lallée
 * email:   stephane.lallee@gmail.com
 * website: https://github.com/robotology/icub-client/
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * icub-client/license/gpl.txt
 *
 * 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
 */

#ifndef __ICUBCLIENT_ENTITY_H__
#define __ICUBCLIENT_ENTITY_H__

#include <yarp/os/all.h>
#include <string>
#include <map>
#include <list>
#include <iostream>
#include <sstream>

namespace icubclient{

//Anticipated declaration of relations (they are used by agents)
class Relation;

class Entity
{
    friend class OPCClient;

    //Writing access to name/id is granted only to OPCClient
private:
    int                 m_opc_id;
    std::string         m_name;
    std::map<std::string, std::string > m_properties; 

    //The entity status when the class is updated by the OPCClient
    yarp::os::Bottle m_original_entity;
    yarp::os::Bottle asBottleOnlyModifiedProperties() const;

protected:
    std::string m_entity_type;
    void        changeName(std::string sName);

public:
    Entity();
    Entity(const Entity &b);
    Entity(yarp::os::Bottle &b);
    virtual ~Entity() {}

    virtual bool isType(std::string _entityType) const
    {
        (void) _entityType; // to avoid unused parameter warning
        return false;
    }

    virtual yarp::os::Bottle asBottle() const;

    virtual bool fromBottle(const yarp::os::Bottle &b);

    virtual std::string toString() const;

    //Getters
    std::string name() const {
        return m_name.c_str();
    }

    int opc_id() const {
        return m_opc_id;
    }

    std::string properties(const std::string& p) const {
        if (m_properties.find(p)!=m_properties.end()) {
            return m_properties.find(p)->second;
        }
        else {
            return "NULL";
        }
    }

    std::string entity_type() const {
        return m_entity_type;
    }


    bool operator==(const Entity &b) const;
    bool operator<(const Entity &b) const;
    bool operator>(const Entity &b) const;
};

} //namespace

#endif