denso_task.h

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#ifndef DENSO_TASK_H
#define DENSO_TASK_H

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

namespace denso_robot_core
{
class DensoTask : public DensoBase
{
public:
  static constexpr const char* XML_TASK_NAME = "Task";

  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;

}  // namespace denso_robot_core

#endif  // DENSO_TASK_H