robot_configurator.h

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#ifndef FSROBO_R_DRIVER_ROBOT_CONFIGURATOR_H
#define FSROBO_R_DRIVER_ROBOT_CONFIGURATOR_H

#include "simple_message/smpl_msg_connection.h"
#include <vector>

namespace fsrobo_r_driver
{
namespace robot_configurator
{
using industrial::smpl_msg_connection::SmplMsgConnection;

class RobotConfigurator
{
public:
  RobotConfigurator() {}

  bool init(SmplMsgConnection* connection);

public:
  bool setPosture(industrial::shared_types::shared_int posture, bool &result);

  bool getPosture(industrial::shared_types::shared_int &posture, bool &result);

  bool setToolOffset(industrial::shared_types::shared_real x,
    industrial::shared_types::shared_real y,
    industrial::shared_types::shared_real z,
    industrial::shared_types::shared_real rz,
    industrial::shared_types::shared_real ry,
    industrial::shared_types::shared_real rx,
    bool &result);

protected:
  SmplMsgConnection* connection_;

  bool sendAndReceiveSetPostureMsg(industrial::shared_types::shared_int posture, bool &result);
  bool sendAndReceiveGetPostureMsg(industrial::shared_types::shared_int &posture, bool &result);
  bool sendAndReceiveSetToolOffsetMsg(industrial::shared_types::shared_real x,
    industrial::shared_types::shared_real y,
    industrial::shared_types::shared_real z,
    industrial::shared_types::shared_real rz,
    industrial::shared_types::shared_real ry,
    industrial::shared_types::shared_real rx,
    bool &result);
};

} 
} 

#endif // FSROBO_R_DRIVER_ROBOT_CONFIGURATOR_H