io_ctrl.h

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2020, Delft Robotics Institute
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
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 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  * Redistributions in binary form must reproduce the above copyright
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 *    documentation and/or other materials provided with the distribution.
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 *    of its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 * \author G.A. vd. Hoorn (TU Delft Robotics Institute)
 */

#ifndef MOTOMAN_DRIVER_IO_CTRL_H
#define MOTOMAN_DRIVER_IO_CTRL_H

#include <string>
#include "simple_message/smpl_msg_connection.h"
#include "motoman_driver/simple_message/motoman_read_single_io.h"
#include "motoman_driver/simple_message/motoman_read_single_io_reply.h"
#include "motoman_driver/simple_message/motoman_write_single_io.h"
#include "motoman_driver/simple_message/motoman_write_single_io_reply.h"

namespace motoman
{
namespace io_ctrl
{
using industrial::smpl_msg_connection::SmplMsgConnection;
using motoman::simple_message::io_ctrl_reply::ReadSingleIOReply;
using motoman::simple_message::io_ctrl_reply::WriteSingleIOReply;

class MotomanIoCtrl
{
public:
  MotomanIoCtrl() {}

  bool init(SmplMsgConnection* connection);

public:
  bool readSingleIO(industrial::shared_types::shared_int address,
    industrial::shared_types::shared_int &value, std::string& err_msg);

  bool writeSingleIO(industrial::shared_types::shared_int address,
    industrial::shared_types::shared_int value, std::string& err_msg);

protected:
  SmplMsgConnection* connection_;

  bool sendAndReceive(industrial::shared_types::shared_int address,
    ReadSingleIOReply &reply);
  bool sendAndReceive(industrial::shared_types::shared_int address,
    industrial::shared_types::shared_int value,
    WriteSingleIOReply &reply);
};

}  // namespace io_ctrl
}  // namespace motoman

#endif  // MOTOMAN_DRIVER_IO_CTRL_H