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ECIRobotAdapter.hh
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ECIRobotAdapter.hh
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/* Copyright (c) 2006-2013, Universities Space Research Association (USRA).
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * 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
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Universities Space Research Association nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY USRA ``AS IS'' AND ANY EXPRESS OR IMPLIED
* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL USRA BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
* TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
* USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
// This file defines an simple interface adapter for the example Plexil
// application in this directory. See src/app-framework/InterfaceAdaptor.hh for
// brief documentation of the inherited class members. See the implementation
// (.cc version) of this file for details on how this adapter works.
#ifndef _H__ECIRobotAdapter
#define _H__ECIRobotAdapter
#include "Command.hh"
#include "InterfaceAdapter.hh"
#include "Value.hh"
using namespace PLEXIL;
class ECIRobotAdapter : public InterfaceAdapter
{
public:
ECIRobotAdapter (AdapterExecInterface&, const pugi::xml_node&);
bool initialize();
bool start();
bool stop();
bool reset();
bool shutdown();
virtual void lookupNow (State const &state, StateCacheEntry &cacheEntry);
virtual void subscribe(const State& state);
virtual void unsubscribe(const State& state);
virtual void setThresholds(const State& state, double hi, double lo);
virtual void setThresholds(const State& state, int32_t hi, int32_t lo);
virtual void executeCommand(Command *cmd);
// The following member, not inherited from the base class, propagates a state
// value change from the system to the executive.
//
void propagateValueChange (const State& state,
const std::vector<Value>& vals) const;
private:
bool isStateSubscribed(const State& state) const;
std::set<State> m_subscribedStates;
};
extern "C" {
void initSampleAdapter();
}
#endif