device.hh

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#ifndef DEVICE_HH
#define DEVICE_HH

#include <yaml-cpp/yaml.h>

#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/entity.h>
#include <dynamic-graph/linear-algebra.h>

#include <dynamic_graph_manager/periodic-call.hh>
#include <dynamic_graph_manager/tools.hh>

namespace dynamic_graph
{
typedef dynamicgraph::Signal<dynamicgraph::Vector, int> OutSignal;
typedef dynamicgraph::SignalPtr<dynamicgraph::Vector, int> InSignal;
typedef std::map<std::string, OutSignal*> DeviceOutSignalMap;
typedef std::map<std::string, InSignal*> DeviceInSignalMap;

class Device : public dynamicgraph::Entity
{
public:
    static const std::string CLASS_NAME;

    virtual const std::string& getClassName(void) const
    {
        return CLASS_NAME;
    }

    Device(const std::string& input_name);

    virtual ~Device();

    virtual void initialize(const YAML::Node& params);

    virtual void initialize_from_file(const std::string& yaml_file);

    void initialize_maps(const YAML::Node& sensors_and_controls);

    virtual void set_sensors_from_map(const VectorDGMap& sensors);

    virtual void execute_graph();

    void execute_graph_deprecated()
    {
        std::cout << "\"device.executeGraph\" python command is deprecated, "
                  << "please use \"device.execute_graph()\"" << std::endl;
        execute_graph();
    }

    virtual void get_controls_to_map(VectorDGMap& motor_controls);

    /****************************************************************
     * DEVICE OUPUT SIGNALS // INPUT OF THE GRAPH <=> SENSOR VALUES *
     ****************************************************************/

    DeviceOutSignalMap sensors_out_;

    VectorDGMap sensors_map_;

    /*******************************************************
     * DEVICE INPUT SIGNALS // OUTPUT OF THE CONTROL GRAPH *
     *******************************************************/

    DeviceInSignalMap motor_controls_in_;

    VectorDGMap motor_controls_map_;

protected:
    PeriodicCall periodic_call_before_;

    PeriodicCall periodic_call_after_;

    YAML::Node params_;
};

}  // namespace dynamic_graph

#endif /* #ifndef DEVICE_HH */