ControllerClient.h

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#ifndef CONTROLLER_CLIENT_H
#define CONTROLLER_CLIENT_H

#include <ocra-recipes/ClientCommunications.h>
#include <ocra-recipes/TaskConnection.h>
#include <ocra/control/Model.h>
#include <ocra/control/TaskBuilders/TaskConstructionManager.h>
#include <ocra-recipes/RobotState.h>
#include <yarp/os/Network.h>
#include <yarp/os/Port.h>
#include <yarp/os/Log.h>
#include <yarp/os/LogStream.h>
#include <yarp/os/RateThread.h>
#include <yarp/os/ResourceFinder.h>

#include <ocra/util/Macros.h>
#include <ocra/util/ErrorsHelper.h>



namespace ocra_recipes
{

class ControllerClient : public yarp::os::RateThread
{
DEFINE_CLASS_POINTER_TYPEDEFS(ControllerClient)

public:
    ControllerClient ();
    ControllerClient (ocra::Model::Ptr derivedModelPtr, const int loopPeriod = DEFAULT_LOOP_PERIOD);
    virtual ~ControllerClient ();

    // RateThread virtual functions
    virtual bool threadInit();
    virtual void threadRelease();
    virtual void run();

    virtual void printHelp(){std::cout << "Hey I am the base ControllerClient class!" << std::endl;}

    int getExpectedPeriod(){return expectedPeriod;}

    virtual bool configure(yarp::os::ResourceFinder &rf){return true;};

public:
    void addTasks(const std::string& pathToXmlFile, bool overwrite);
    void addTask(ocra::TaskBuilderOptions& tmOpts, bool overwrite);
    bool checkIfTaskExists(ocra::TaskBuilderOptions& tmOpts);
    std::vector<std::string> getTaskTypes();
    std::vector<std::string> getTaskNames();

    bool removeTask(const std::string& taskName);
    bool removeTasks(const std::vector<std::string>& taskNameVector);

    bool hasBeenReleased(){return clientThreadHasBeenReleased;}
    bool changeFixedLink(std::string newFixedLink, int isInLeftSupport, int isInRightSupport);


protected:
    virtual bool initialize(){return true;}
    virtual void release(){/* Do nothing. */}
    virtual void loop() = 0;

    ClientCommunications::Ptr clientComs;
    ocra::Model::Ptr model;

private:
    bool clientThreadHasBeenReleased;
    bool isReady;

    yarp::os::Port statesPort;
    StateListener stateCallback;

    static int CONTROLLER_CLIENT_COUNT;
    int clientNumber;

    yarp::os::Network yarp;
    yarp::os::Log yLog;

    int expectedPeriod;
    static const int DEFAULT_LOOP_PERIOD = 10; // ms
};


} // namespace ocra_recipes
#endif // CONTROLLER_CLIENT_H