jaus++/2.0/include/jaus/extras/mcu/microcontroller.h

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#ifndef __JAUS_EXTRAS_MICROCONTROLLER__H
#define __JAUS_EXTRAS_MICROCONTROLLER__H

#include "jaus/extras/jausextrasdll.h"
#include "jaus/core/management/management.h"
#include "jaus/core/sensor.h"

namespace JAUS
{
    class JAUS_EXTRAS_DLL Microcontroller : public Management::Child, public Sensor
    {
    public:
        const static std::string Name;       
        typedef std::map<std::string, bool> DigitalStates;
        typedef std::map<std::string, double> AnalogStates;
        Microcontroller();
        virtual ~Microcontroller();
        // Service is discoverable.
        virtual bool IsDiscoverable() const { return true; }
        // Sets the state of a device (on = true, false = off) (overload to send command to MCU).
        virtual void SetDigitalOut(const std::string& name,
                                   const bool value) = 0;
        // Sets the analog value for a pin/device [-100,100]% of max (overload to send command to MCU).
        virtual void SetAnalogOut(const std::string& name,
                                  const double value) = 0;
        // Sets the state of a digital device input (on = true, false = off) (from data recrived from MCU).
        virtual void SetDigitalInput(const std::string& name,
                                     const bool value);
        // Sets the analog value for a pin/device [-100,100]% of max (from data recrived from MCU).
        virtual void SetAnalogInput(const std::string& name,
                                    const double value);        
        // Gets the state of a device by name (values set by the SetDigitalInput method).
        virtual bool GetDigitalState(const std::string& name) const;
        // Gets the current analog state of a pin/device by name (values set by SetAnalogState method).
        virtual double GetAnalogState(const std::string& name) const;
        // Gets the digital states of all pins set.
        DigitalStates GetDigitalStates() const { Mutex::ScopedLock lock(&mMcuMutex); return mDigitalStates; }
        // Gets the analog states of all pins set.
        AnalogStates GetAnalogStates() const { Mutex::ScopedLock lock(&mMcuMutex); return mAnalogStates; }
        // Method called when an Event has been signaled, generates an Event message.
        virtual bool GenerateEvent(const Events::Subscription& info) const;
        // Method called to determine if an Event is supported by the service.
        virtual bool IsEventSupported(const Events::Type type,
                                      const double requestedPeriodicRate,
                                      const Message* queryMessage,
                                      double& confirmedPeriodicRate,
                                      std::string& errorMessage) const;
        // Creates any messages associated with this service.
        virtual Message* CreateMessage(const UShort messageCode) const;
        // Processes JAUS messages associated with this Service.
        virtual void Receive(const Message* message);
        // Method called when transitioning to a ready state.
        virtual bool Resume() { return true; }
        // Method called to transition due to reset.
        virtual bool Reset() { return true; }
        // Method called when transitioning to a standby state.
        virtual bool Standby() { return true; }
        // Method called when transitioning to an emergency state.
        virtual bool SetEmergency() { return true; }
        // Method called when leaving the emergency state.
        virtual bool ClearEmergency() { return true; }
        // Method called when control is released.
        virtual bool ReleaseControl() { return true; }
        // Prints data to console.
        virtual void PrintStatus() const;
    protected:
        virtual void CheckServiceSynchronization(const unsigned int timeSinceLastCheckMs);
        // Signal an event.
        virtual void SignalEvent(const bool digital,
                                 const std::string& name);
        Mutex mMcuMutex;                
        DigitalStates   mDigitalStates; 
        AnalogStates    mAnalogStates;  
    };
}

#endif
/*  End of File */