/*************************************************************************************
 * Copyright (c) 2016, Miguel Angel Astor Romero                                     *
 * All rights reserved.                                                              *
 *                                                                                   *
 * Redistribution and use in source and binary forms, with or without                *
 * modification, are permitted provided that the following conditions are met:       *
 *                                                                                   *
 * 1. Redistributions of source code must retain the above copyright notice, this    *
 *    list of conditions and the following disclaimer.                               *
 * 2. Redistributions in binary form must reproduce the above copyright notice,      *
 *    this list of conditions and the following disclaimer in the documentation      *
 *    and/or other materials provided with the distribution.                         *
 *                                                                                   *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND   *
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED     *
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE            *
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR   *
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 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;      *
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND       *
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 *************************************************************************************/

#include "robot.hpp"

namespace ias_ss {
  Robot::Robot(std::string hostname, uint32_t port) {
    _host_name = hostname;
    _port = port;

    _p_client = new PlayerCc::PlayerClient(hostname, port);
    _p_proxy  = new PlayerCc::Position2dProxy(_p_client, 0);
    _r_proxy  = new PlayerCc::RangerProxy(_p_client, 0);

    _p_proxy->RequestGeom();
    _r_proxy->RequestGeom();
    _r_proxy->RequestConfigure();
  }

  Robot::~Robot() {
    delete _p_proxy;
    delete _r_proxy;
    delete _p_client;
  }

  void Robot::log(std::string msg) {
    std::cout << "ROBOT(" << _host_name << ":" << _port << ") - " << msg << std::endl;
  }
}