robot_state_interface.h

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#ifndef MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_ROBOT_STATE_INTERFACE_H
#define MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_ROBOT_STATE_INTERFACE_H

#include <vector>
#include <string>
#include <map>
#include "simple_message/smpl_msg_connection.h"
#include "simple_message/message_manager.h"
#include "simple_message/message_handler.h"
#include "simple_message/socket/tcp_client.h"
#include "motoman_driver/industrial_robot_client/joint_relay_handler.h"
#include "motoman_driver/industrial_robot_client/robot_group.h"
#include "motoman_driver/industrial_robot_client/joint_feedback_relay_handler.h"
#include "motoman_driver/industrial_robot_client/joint_feedback_ex_relay_handler.h"
#include "industrial_robot_client/robot_status_relay_handler.h"

namespace industrial_robot_client
{
namespace robot_state_interface
{

using industrial::smpl_msg_connection::SmplMsgConnection;
using industrial::message_manager::MessageManager;
using industrial::message_handler::MessageHandler;
using industrial::tcp_client::TcpClient;
using industrial_robot_client::joint_relay_handler::JointRelayHandler;
using industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler;
using industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler;
using industrial_robot_client::robot_status_relay_handler::RobotStatusRelayHandler;
namespace StandardSocketPorts = industrial::simple_socket::StandardSocketPorts;

// * RobotStateInterface

class RobotStateInterface
{
public:
  RobotStateInterface();
  bool init(std::string default_ip = "", int default_port = StandardSocketPorts::STATE, bool legacy_mode = false);

  bool init(SmplMsgConnection* connection);

  bool init(SmplMsgConnection* connection, std::vector<std::string>& joint_names);

  bool init(SmplMsgConnection* connection, std::map<int, RobotGroup> robot_groups);

  void run();

  SmplMsgConnection* get_connection()
  {
    return this->connection_;
  }

  MessageManager* get_manager()
  {
    return &this->manager_;
  }

  std::vector<std::string> get_joint_names()
  {
    return this->joint_names_;
  }

  std::map<int, RobotGroup> get_robot_groups()
  {
    return this->robot_groups_;
  }

  void add_handler(MessageHandler* handler, bool allow_replace = true)
  {
    this->manager_.add(handler, allow_replace);
  }

protected:
  TcpClient default_tcp_connection_;
  JointRelayHandler default_joint_handler_;
  JointFeedbackRelayHandler default_joint_feedback_handler_;
  JointFeedbackExRelayHandler default_joint_feedback_ex_handler_;
  RobotStatusRelayHandler default_robot_status_handler_;

  SmplMsgConnection* connection_;
  MessageManager manager_;
  std::vector<std::string> joint_names_;

  std::map<int, RobotGroup> robot_groups_;

  bool version_0_;
};  // class RobotStateInterface

}  // namespace robot_state_interface
}  // namespace industrial_robot_client


#endif  // MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_ROBOT_STATE_INTERFACE_H