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"

namespace denso_robot_core
{
class DensoController : public DensoBase
{
public:
  static constexpr int BCAP_CONTROLLER_CONNECT_ARGS = 4;
  static constexpr int BCAP_CONTROLLER_EXECUTE_ARGS = 3;

  static constexpr const char* XML_CTRL_NAME = "Controller";

  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);
  virtual HRESULT ExecClearError();
  virtual HRESULT ExecManualReset() = 0;
  virtual HRESULT ExecResetStoState() = 0;
  virtual HRESULT ExecGetCurErrorCount(int& count);
  virtual HRESULT ExecGetCurErrorInfo(int error_index, HRESULT& error_code, std::string& error_message);
  virtual HRESULT ExecGetErrorDescription(HRESULT error_code, std::string& error_description);

  ros::Duration get_Duration() const
  {
    return m_duration;
  }
  std::tuple<int, int, int> get_SoftwareVersion() const
  {
    return m_software_version;
  }

protected:
  DensoController(const std::string& name, const int* mode, const ros::Duration dt);
  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;
  ros::Duration m_duration;

private:
  std::tuple<int, int, int> m_software_version;
  HRESULT GetVariableVersion();
};

typedef boost::shared_ptr<DensoController> DensoController_Ptr;

}  // namespace denso_robot_core

#endif  // DENSO_CONTROLLER_H