RobotControl.h

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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    Robot::
* @author     Mirko Waechter( mirko.waechter at kit dot edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/statechart/Statechart.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXCore/interface/operations/RobotControlIceBase.h>
 
namespace armarx
{
    // ****************************************************************
    // Component and context
    // ****************************************************************
 
    struct RobotControlContextProperties : StatechartContextPropertyDefinitions
    {
        RobotControlContextProperties(std::string prefix):
            StatechartContextPropertyDefinitions(prefix)
        {
 
            defineOptionalProperty<std::string>("XMLStatechartProfile", "", "Name of the statechart profile to be used. This is used as prefix to the proxyName. So GraspGroupRemoteStateOfferer will be Armar3aGraspGroupRemoteStateOfferer");
            defineOptionalProperty<std::string>("proxyName", "", "name of the proxy to load");
            defineOptionalProperty<std::string>("stateName", "", "name of the state to load");
        }
    };
 
 
 
    class ARMARXCOMPONENT_IMPORT_EXPORT RobotControl :
        virtual public RemoteStateOfferer<StatechartContext>,
        virtual public RobotControlIceBase
    {
    public:
        StateBasePtr robotFunctionalState;
        // inherited from RemoteStateOfferer
        std::string getStateOffererName() const override
        {
            return "RobotControl";
        }
 
        void onInitRemoteStateOfferer() override;
        void onConnectRemoteStateOfferer() override;
        void onExitRemoteStateOfferer() override;
        void startRobotStatechart();
 
        void hardReset(const Ice::Current& = Ice::emptyCurrent) override;
 
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    private:
        void createStaticInstance();
        RunningTask< RobotControl >::pointer_type task;
        int stateId;
    };
 
    DEFINEEVENT(EvRobotFailure)
    DEFINEEVENT(EvStopRobot)
    DEFINEEVENT(EvStartRobot)
    DEFINEEVENT(EvLoadingFailed)
    struct Statechart_Robot :
        StateTemplate<Statechart_Robot>
    {
        void defineState() override;
        void defineSubstates() override;
    };
 
 
    DEFINEEVENT(EvInit)
    DEFINEEVENT(EvInitialized)
    DEFINEEVENT(EvLoadScenario)
    DEFINEEVENT(EvStartScenario)
    DEFINEEVENT(EvInitFailed)
    struct StateRobotControl :
        StateTemplate<StateRobotControl>
    {
        void onEnter() override;
        void defineSubstates() override;
    };
 
    struct RobotPreInitialized :
        StateTemplate<RobotPreInitialized>
    {
        RobotPreInitialized();
        void onEnter() override;
    };
}