MKInterface.hpp

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/*
 * MKInterface.hpp
 *
 *  Created on: Dec 8, 2011
 *      Author: mriedel
 */

#ifndef MKINTERFACE_HPP_
#define MKINTERFACE_HPP_

//TODO: Create BaseClass for MKINTERFACE AND TELEKYBSYSTEM.

#include <telekyb_defines/telekyb_defines.hpp>

#include <telekyb_defines/MKDefines.hpp>

#include <telekyb_interface/OptionController.hpp>

#include <ros/ros.h>

#include <telekyb_msgs/MKValue.h>

#include <boost/thread/mutex.hpp>

namespace TELEKYB_INTERFACE_NAMESPACE {

struct MKCompleteSingeValue {
        int id;
        int value;
        std::string name;
        ros::Time stamp;

        MKCompleteSingeValue() {
                id = -1;
        }
};


class MKInterface {
private:
        MKInterface(int robotID_, const std::string& mainHandleNamespace);

protected:
        int robotID;
        ros::NodeHandle mainNodeHandle;

        OptionController* optionController;
        void createOptionController();
        // System check.
        bool isOk() const;

        ros::Publisher setMKValueAsyncPub;
        ros::Publisher updateMKValueAsyncPub;

        // Updates mkValues automatically.
        ros::Subscriber mkValueSub;

        MKCompleteSingeValue valueArray[MKDataDefines::MKDATAIDS_NUM];
        boost::mutex valueArrayMutex;

public:
        virtual ~MKInterface();

        static MKInterface* getMKInterface(int robotID_, double blockTimeOut_ = 2.0);

        OptionController* getOptionController() const;

        // Mapped Functions
        bool doDriftEstim();
        bool setActiveDataIDs(MKActiveIDs activeIDs);
        bool setMKValue(MKSingleValuePacket value);
        bool updateMKValue(MKSingleValuePacket& value); // updates Value

        bool setEmergency();

        void setMKValueAsync(MKSingleValuePacket value);
        void updateMKValueAsync(MKInt id);

        void recvMKValue(const telekyb_msgs::MKValue::ConstPtr& msg);

        MKCompleteSingeValue getMKCompleteSingeValue(int id) const;

        bool updateAllMKValues();
        void updateAllMKValuesAsync();

};

} /* namespace telekyb_interface */
#endif /* MKINTERFACE_HPP_ */