denso_controller.h

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#ifndef _DENSO_CONTROLLER_H_
#define _DENSO_CONTROLLER_H_

#include "denso_robot_core/denso_base.h"
#include "denso_robot_core/denso_robot.h"
#include "denso_robot_core/denso_task.h"
#include "denso_robot_core/denso_variable.h"

#define XML_CTRL_NAME "Controller"

namespace denso_robot_core {

class DensoController : public DensoBase
{
public:
  DensoController(const std::string& name, const int* mode);
  virtual ~DensoController();

  virtual HRESULT InitializeBCAP(
      const std::string& filename);

  virtual HRESULT StartService(ros::NodeHandle& node);
  virtual HRESULT StopService();

  virtual bool Update();

  HRESULT get_Robot(int index, DensoRobot_Ptr* robot);
  HRESULT get_Task(const std::string& name, DensoTask_Ptr* task);
  HRESULT get_Variable(const std::string& name, DensoVariable_Ptr* var);

  HRESULT AddVariable(const std::string& name);

protected:
  virtual HRESULT AddController() = 0;
  virtual HRESULT AddRobot(XMLElement *xmlElem) = 0;
  virtual HRESULT AddTask(XMLElement *xmlElem);
  virtual HRESULT AddVariable(XMLElement* xmlElem);

protected:
  DensoRobot_Vec    m_vecRobot;
  DensoTask_Vec     m_vecTask;
  DensoVariable_Vec m_vecVar;
};

typedef boost::shared_ptr<DensoController> DensoController_Ptr;

}

#endif