robot_state_interface.h
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00001 /*
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00031 
00032 
00033 #ifndef ROBOT_STATE_INTERFACE_H
00034 #define ROBOT_STATE_INTERFACE_H
00035 
00036 #include <vector>
00037 #include <string>
00038 #include "simple_message/smpl_msg_connection.h"
00039 #include "simple_message/message_manager.h"
00040 #include "simple_message/message_handler.h"
00041 #include "simple_message/socket/tcp_client.h"
00042 #include "fs100/industrial_robot_client/joint_relay_handler.h"
00043 #include "fs100/industrial_robot_client/joint_feedback_relay_handler.h"
00044 #include "industrial_robot_client/robot_status_relay_handler.h"
00045 
00046 namespace industrial_robot_client
00047 {
00048 namespace robot_state_interface
00049 {
00050 
00051 using industrial::smpl_msg_connection::SmplMsgConnection;
00052 using industrial::message_manager::MessageManager;
00053 using industrial::message_handler::MessageHandler;
00054 using industrial::tcp_client::TcpClient;
00055 using industrial_robot_client::joint_relay_handler::JointRelayHandler;
00056 using industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler;
00057 using industrial_robot_client::robot_status_relay_handler::RobotStatusRelayHandler;
00058 namespace StandardSocketPorts = industrial::simple_socket::StandardSocketPorts;
00059 
00067 //* RobotStateInterface
00068 class RobotStateInterface
00069 {
00070 
00071 public:
00072 
00076   RobotStateInterface();
00077 
00088   bool init(std::string default_ip = "", int default_port = StandardSocketPorts::STATE);
00089 
00097   bool init(SmplMsgConnection* connection);
00098 
00109   bool init(SmplMsgConnection* connection, std::vector<std::string>& joint_names);
00110 
00114   void run();
00115 
00121   SmplMsgConnection* get_connection()
00122   {
00123     return this->connection_;
00124   }
00125 
00131   MessageManager* get_manager()
00132   {
00133     return &this->manager_;
00134   }
00135 
00136   std::vector<std::string> get_joint_names()
00137   {
00138     return this->joint_names_;
00139   }
00140 
00141 
00148   void add_handler(MessageHandler* handler, bool allow_replace = true)
00149   {
00150     this->manager_.add(handler, allow_replace);
00151   }
00152 
00153 protected:
00154   TcpClient default_tcp_connection_;
00155   JointRelayHandler default_joint_handler_;
00156   JointFeedbackRelayHandler default_joint_feedback_handler_;
00157   RobotStatusRelayHandler default_robot_status_handler_;
00158 
00159   SmplMsgConnection* connection_;
00160   MessageManager manager_;
00161   std::vector<std::string> joint_names_;
00162 
00163 };//class RobotStateInterface
00164 
00165 }//robot_state_interface
00166 }//industrial_robot_cliet
00167 
00168 
00169 #endif /* ROBOT_STATE_INTERFACE_H */
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fs100
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Mon May 27 2013 19:43:15