denso_variable.h

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#ifndef _DENSO_VARIABLE_H_
#define _DENSO_VARIABLE_H_

#include "denso_robot_core/denso_base.h"

#define XML_VARIABLE_NAME "Variable"

#define XML_ATTR_VARTYPE  "vt"
#define XML_ATTR_READ     "read"
#define XML_ATTR_WRITE    "write"
#define XML_ATTR_ID       "id"
#define XML_ATTR_DURATION "duration"

namespace denso_robot_core {

class DensoVariable : public DensoBase
{
public:
  DensoVariable(DensoBase* parent,
      Service_Vec& service, Handle_Vec& handle,
      const std::string& name, const int* mode,
      int16_t vt, bool Read, bool Write, bool ID, int Duration);

  virtual ~DensoVariable();

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

  bool Update();

  HRESULT ExecGetValue(VARIANT_Ptr& value);
  HRESULT ExecPutValue(const VARIANT_Ptr& value);
  HRESULT ExecPutID(const int id);

private:
  // Callback functions
  void Callback_I32(const Int32::ConstPtr& msg);
  void Callback_F32(const Float32::ConstPtr& msg);
  void Callback_F64(const Float64::ConstPtr& msg);
  void Callback_String(const String::ConstPtr& msg);
  void Callback_Bool(const Bool::ConstPtr& msg);
  void Callback_F32Array(const Float32MultiArray::ConstPtr& msg);
  void Callback_F64Array(const Float64MultiArray::ConstPtr& msg);
  void Callback_ID(const Int32::ConstPtr& msg);

private:
  int16_t m_vt;
  bool    m_bRead;
  bool    m_bWrite;
  bool    m_bID;
  ros::Duration   m_Duration;
  ros::Time       m_pubTimePrev;
  ros::Publisher  m_pubValue;
  ros::Subscriber m_subValue;
  ros::Subscriber m_subID;
};

typedef boost::shared_ptr<DensoVariable> DensoVariable_Ptr;
typedef std::vector<DensoVariable_Ptr> DensoVariable_Vec;

}

#endif