Add a CreatePlanningClient factory to make a ZMQ client or complain.

Note: #1 will
remote the need for this by just having a ZMQ client, but that's
more refactoring than strictly needed for the split, so we'll use
this factory function briefly.

include/mujinplanningclient/mujinplanningclient.h

@@ -68,6 +68,7 @@ struct CropContainerMarginsXYZXYZ
 
 typedef boost::shared_ptr<CropContainerMarginsXYZXYZ> CropContainerMarginsXYZXYZPtr;
 
+
 class MUJINPLANNINGCLIENT_API MujinPlanningClient
 {
 public:
@@ -638,7 +639,9 @@ class MUJINPLANNINGCLIENT_API MujinPlanningClient
 };
 typedef boost::shared_ptr<MujinPlanningClient> MujinPlanningClientPtr;
 
+class BinpickingTaskZmqResource;
 
+MujinPlanningClientPtr CreatePlanningClient(const std::string& scenebasename, const std::string& tasktype, const std::string& baseuri, const std::string& userName);
 
 namespace utils {
 MUJINPLANNINGCLIENT_API std::string GetJsonString(const std::string& string);

src/mujinplanningclient.cpp

@@ -20,6 +20,7 @@
 
 #ifdef MUJIN_USEZMQ
 #include "mujinplanningclient/zmq.hpp"
+#include "binpickingtaskzmq.h"
 #endif
 
 #ifdef _WIN32
@@ -1827,6 +1828,17 @@ void MujinPlanningClient::_HeartbeatMonitorThread(const double reinitializetimeo
 #endif
 }
 
+
+MujinPlanningClientPtr CreatePlanningClient(const std::string& scenebasename, const std::string& tasktype, const std::string& baseuri, const std::string& userName)
+{
+#ifdef MUJIN_USEZMQ
+    return boost::make_shared<BinpickingTaskZmqResource>(scenebasename, tasktype, baseuri, userName);
+#else
+    MUJIN_LOG_ERROR("You've compiled the planning client without ZMQ! This is only possible for backwards compatibility so is unsupported and will disappear soon. Please use ZMQ!");
+    return boost::make_shared<MujinPlanningClient>(scenebasename, tasktype, baseuri, userName);
+#endif
+}
+
 #ifdef MUJIN_USEZMQ
 std::string utils::GetHeartbeat(const std::string& endpoint) {
     zmq::context_t zmqcontext(1);