include/IPSA/tools/NVRemoteConnection.h

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#ifndef _NV_REMOTE_CONNECTION_H_
#define _NV_REMOTE_CONNECTION_H_
/*
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (for members see AUTHORS file)
 * Copyright (c) 2011, Karlsruhe Institute of Technology (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 *
 * Created by Manfred Kroehnert on 16.07.2008.
 */

#include "../IPSA.h"

#include <string>
#include <vector>
#include <map>
#include <sstream>

class CTCPSocket;

class IPSA_TOOLS_IMPORT_EXPORT NVRemoteConnection
{
public:
        NVRemoteConnection(bool connectOnCreate = false, const std::string& hostname = "localhost", unsigned int port = 12345);
        ~NVRemoteConnection();
                
                bool connect();
                bool isConnected();
                
                void sendCommands();
                
                void scheduleOde(bool scheduleSimulation = true);
                
                // GET commands for single nodes
                std::vector<float> getVectorForCommand(const std::string& commandName, const std::string&  nodeName, bool firstBody = true);
                std::vector<float> getJointForce(const std::string& jointName, bool firstBody = true);
                std::vector<float> getJointTorque(const std::string& jointName, bool firstBody = true);
                float getValueForCommand(const std::string& commandName, const std::string& nodeName);
                float getJointAngle(const std::string& jointName);
                float getJointAngleRate(const std::string& jointName);
                float getJointPosition(const std::string& jointName);
                float getJointPositionRate(const std::string& jointName);
                
                // GET commands for multiple nodes
                std::map<std::string, std::vector<float> > getMapForNodesAndCommand(const std::vector<std::string>& nodeList, std::vector<float> (NVRemoteConnection::*commandFunction)(const std::string&, bool));
                std::map<std::string, float> getMapForNodesAndCommand(const std::vector<std::string>& nodeList, float (NVRemoteConnection::*commandFunction)(const std::string&));
                std::map<std::string, std::vector<float> > getJointForces(const std::vector<std::string>& jointList);
                std::map<std::string, std::vector<float> > getJointTorques(const std::vector<std::string>& jointList);
                std::map<std::string, float> getJointAngles(const std::vector<std::string>& jointList);
                std::map<std::string, float> getJointAngleRates(const std::vector<std::string>& jointList);
                std::map<std::string, float> getJointPositions(const std::vector<std::string>& jointList);
                std::map<std::string, float> getJointPositionRates(const std::vector<std::string>& jointList);
                std::vector<std::string> getListForCommand(const std::string& commandName);
                std::vector<std::string> getJointList();
                std::vector<std::string> getBodyList();
                
                // SET commands for single nodes
                void set3DVectorForCommandAndNode(const std::vector<float>& values, const std::string& commandName, const std::string& nodeName);
                void setValueForCommandAndNode(const float& value, const std::string& commandName, const std::string& nodeName);
                void setJointForce(const std::string& jointName, float force);
                void setJointForce2(const std::string& jointName, float force);
                void setJointSpeed(const std::string& jointName, float speed);
                void setJointSpeed2(const std::string& jointName, float speed);
                void setJointTorque(const std::string& jointName, float torque);
                void setJointTorque2(const std::string& jointName, float torque);
                
protected:
                bool receiveAnswer(std::string& answer);
private:
        CTCPSocket* m_pSocket;
                std::ostringstream commandStream;
};

#endif // _NV_REMOTE_CONNECTION_H_

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