denso_robot_core.h

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#ifndef _DENSO_ROBOT_CORE_H_
#define _DENSO_ROBOT_CORE_H_

#include "denso_robot_core/denso_controller.h"

namespace denso_robot_core {

class DensoRobotCore
{

public:
  DensoRobotCore();
  virtual ~DensoRobotCore();

  HRESULT Initialize();

  void Start();
  void Stop();

  HRESULT ChangeMode(int mode, bool service = false);
  int get_Mode() const { return m_mode; }

  const DensoController_Ptr& get_Controller() const { return m_ctrl; }

private:
  DensoController_Ptr m_ctrl;
  int m_ctrlType, m_mode;
  volatile bool m_quit;
};

typedef boost::shared_ptr<DensoRobotCore> DensoRobotCore_Ptr;

}

#endif