MitsubishiController.hpp

#ifndef MITSUBISHICONTROLLER_HPP
#define MITSUBISHICONTROLLER_HPP

#include <cstdint>

#include "AbstractController.hpp"

namespace HLR
{
namespace Simulation
{
class MitsubishiController : public AbstractController
{
public:
    MitsubishiController(const std::string& request_topic,
                         const std::string& respond_topic,
                         const std::string& robot_description = "mitsubishi");

private:
    void parse_message(const std::string& message) override;

    bool parse_startup_messages(const std::string& message);

    bool parse_run_messages(std::string& cmd);

    bool comm_open = false;

    bool controller_on = false;

    bool servo_on = false;

    const uint8_t total_num_of_joints;

    const uint8_t unused_joint_one;

    const uint8_t unused_joint_two;

    const std::string q_ok;

    const std::string q_error;

    const std::string q_error_busy;
};
}
}

#endif /* MITSUBISHICONTROLLER_HPP */