denso_task.h

Go to the documentation of this file.

#ifndef _DENSO_TASK_H_
#define _DENSO_TASK_H_

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

#define XML_TASK_NAME "Task"

namespace denso_robot_core {

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

  virtual ~DensoTask();

  HRESULT InitializeBCAP(XMLElement *xmlElem);

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

  bool Update();

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

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

private:
  HRESULT AddVariable(XMLElement* xmlElem);

private:
  DensoVariable_Vec m_vecVar;
};

typedef boost::shared_ptr<DensoTask> DensoTask_Ptr;
typedef std::vector<DensoTask_Ptr> DensoTask_Vec;

}

#endif