#!/usr/bin/env python
#
# Copyright (c) 2014 CNRS
# Author: Florent Lamiraux
#

# 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
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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# DAMAGE.

from hpp.corbaserver.client import Client as _Parent
from hpp_idl.hpp.corbaserver.manipulation import Graph, Problem, Robot


class Client(_Parent):
    """
    Connect and create clients for hpp-manipulation library.
    """

    defaultClients = {
        "graph": Graph,
        "problem": Problem,
        "robot": Robot,
    }

    def __init__(self, url=None, context="corbaserver"):
        """
        Initialize CORBA and create default clients.
        :param url: URL in the IOR, corbaloc, corbalocs, and corbanames formats.
                    For a remote corba server, use
                    url = "corbaloc:iiop:<host>:<port>/NameService"
        """
        self._initOrb(url)
        self._makeClients("manipulation", self.defaultClients, context)
