Server.hpp

// Authors: see AUTHORS.md at project root.
// CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
// URL: https://github.com/asrob-uc3m/robotDevastation
 
#ifndef __RD_SERVER_HPP__
#define __RD_SERVER_HPP__
 
#include <map>
#include <mutex>
 
#include <yarp/os/RFModule.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/RpcServer.h>
#include <yarp/os/Port.h>
 
#include "Player.hpp"
#include "RpcResponder.hpp"
 
namespace rd{
 
class Server : public yarp::os::RFModule
{
 
    public:
        bool configure(yarp::os::ResourceFinder &rf);
 
        double getPeriod();
 
        virtual ~Server();
 
    protected:
        bool interruptModule();
        bool updateModule();
 
        bool quiet;
 
        int serverStatus;
 
        std::map <int, Player> players;
        std::map <int, int> players_belief;
        std::mutex players_mutex; //-- To work with players & players_belief
 
        yarp::os::RpcServer rpcServer;
        RpcResponder rdRpcResponder;
        yarp::os::Port rdBroadcast;
};
 
} //rd
 
#endif  // __RD_SERVER_HPP__