device.hpp

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#ifndef FLEXIV_RDK_DEVICE_HPP_
#define FLEXIV_RDK_DEVICE_HPP_
 
#include "robot.hpp"
#include <map>
 
namespace flexiv {
namespace rdk {
 
using DeviceParamDataTypes
    = std::variant<int, double, std::string, std::vector<double>, std::vector<std::string>>;
 
class Device
{
public:
    Device(const Robot& robot);
    virtual ~Device();
 
    std::vector<std::string> list() const;
 
    bool exist(const std::string& name) const;
 
    bool enabled(const std::string& name) const;
 
    bool connected(const std::string& name) const;
 
    std::map<std::string, DeviceParamDataTypes> params(const std::string& name) const;
 
    void Enable(const std::string& name);
 
    void Disable(const std::string& name);
 
    void Command(const std::string& name,
        const std::map<std::string, std::variant<bool, int, double>>& commands);
 
private:
    class Impl;
    std::unique_ptr<Impl> pimpl_;
};
 
} /* namespace rdk */
} /* namespace flexiv */
 
#endif /* FLEXIV_RDK_DEVICE_HPP_ */