robot_state_interface.h
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00001 /*
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00004  * Copyright (c) 2012, Southwest Research Institute
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00013  *       notice, this list of conditions and the following disclaimer in the
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00016  *       of its contributors may be used to endorse or promote products derived
00017  *       from this software without specific prior written permission.
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00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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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 "industrial_robot_client/joint_relay_handler.h"
00043 #include "industrial_robot_client/robot_status_relay_handler.h"
00044 
00045 namespace industrial_robot_client
00046 {
00047 namespace robot_state_interface
00048 {
00049 
00050 using industrial::smpl_msg_connection::SmplMsgConnection;
00051 using industrial::message_manager::MessageManager;
00052 using industrial::message_handler::MessageHandler;
00053 using industrial::tcp_client::TcpClient;
00054 using industrial_robot_client::joint_relay_handler::JointRelayHandler;
00055 using industrial_robot_client::robot_status_relay_handler::RobotStatusRelayHandler;
00056 namespace StandardSocketPorts = industrial::simple_socket::StandardSocketPorts;
00057 
00065 //* RobotStateInterface
00066 class RobotStateInterface
00067 {
00068 
00069 public:
00070 
00074   RobotStateInterface();
00075 
00086   bool init(std::string default_ip = "", int default_port = StandardSocketPorts::STATE);
00087 
00088 
00096   bool init(SmplMsgConnection* connection);
00097 
00108   bool init(SmplMsgConnection* connection, std::vector<std::string>& joint_names);
00109 
00113   void run();
00114 
00120   SmplMsgConnection* get_connection()
00121   {
00122     return this->connection_;
00123   }
00124 
00130   MessageManager* get_manager()
00131   {
00132     return &this->manager_;
00133   }
00134 
00135   std::vector<std::string> get_joint_names()
00136   {
00137     return this->joint_names_;
00138   }
00139 
00140 
00147   void add_handler(MessageHandler* handler, bool allow_replace = true)
00148   {
00149     this->manager_.add(handler, allow_replace);
00150   }
00151 
00152 protected:
00153   TcpClient default_tcp_connection_;
00154   JointRelayHandler default_joint_handler_;
00155   RobotStatusRelayHandler default_robot_status_handler_;
00156 
00157   SmplMsgConnection* connection_;
00158   MessageManager manager_;
00159   std::vector<std::string> joint_names_;
00160 
00161 };//class RobotStateInterface
00162 
00163 }//robot_state_interface
00164 }//industrial_robot_cliet
00165 
00166 
00167 #endif /* ROBOT_STATE_INTERFACE_H */


industrial_robot_client
Author(s): Jeremy Zoss
autogenerated on Fri Aug 28 2015 11:12:09