denso_robot.h

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#ifndef _DENSO_ROBOT_H_
#define _DENSO_ROBOT_H_

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

#define XML_ROBOT_NAME "Robot"

namespace denso_robot_core {

class DensoRobot : public DensoBase
{
public:
  DensoRobot(DensoBase* parent,
      Service_Vec& service, Handle_Vec& handle,
      const std::string& name, const int* mode);

  virtual ~DensoRobot();

  virtual HRESULT InitializeBCAP(XMLElement *xmlElem);

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

  virtual bool Update();

  HRESULT get_Variable(const std::string& name, DensoVariable_Ptr* var);

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

  virtual HRESULT ExecTakeArm() = 0;
  virtual HRESULT ExecGiveArm() = 0;

  void ChangeArmGroup(int number);

protected:
  void Callback_ArmGroup(const Int32::ConstPtr& msg);

  virtual HRESULT AddVariable(XMLElement* xmlElem);

  HRESULT CreatePoseData(
      const PoseData &pose,
      VARIANT &vnt);

  HRESULT CreateExJoints(
      const ExJoints &exjoints,
      VARIANT &vnt);

protected:
  DensoVariable_Vec m_vecVar;

  int32_t m_ArmGroup;
  ros::Subscriber m_subArmGroup;
};

typedef boost::shared_ptr<DensoRobot> DensoRobot_Ptr;
typedef std::vector<DensoRobot_Ptr> DensoRobot_Vec;

}

#endif