subSystem_ARE.h

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/*
* Copyright (C) 2014 WYSIWYD Consortium, European Commission FP7 Project ICT-612139
* Authors: Stéphane Lallée
* email:   stephane.lallee@gmail.com
* website: https://github.com/robotology/icub-client/
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* A copy of the license can be found at
* icub-client/license/gpl.txt
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details
*/

#ifndef __ICUBCLIENT_SUBSYSTEM_ARE_H__
#define __ICUBCLIENT_SUBSYSTEM_ARE_H__

#include <string>
#include <algorithm>
#include <yarp/os/all.h>
#include <yarp/sig/all.h>

#include "icubclient/subsystems/subSystem.h"
#include "icubclient/clients/opcClient.h"

#define SUBSYSTEM_ARE       "ARE"

namespace icubclient {
    class SubSystem_ARE : public SubSystem
    {
    protected:
        OPCClient *opc;

        yarp::os::RpcClient portCmd; 
        yarp::os::RpcClient portRPC; 
        yarp::os::RpcClient portGet; 
        yarp::os::RpcClient portCalib; 
        std::string lastlyUsedHand; 
        void appendCartesianTarget(yarp::os::Bottle& b, const yarp::sig::VectorOf<double> &t);

        bool sendCmd(const yarp::os::Bottle &cmd);

        bool connect();

    public:
        SubSystem_ARE(const std::string &masterName);

        void Close();

        bool getTableHeight(double &height);

        /********************************************************************************/
        void selectHandCorrectTarget(yarp::os::Bottle& options, yarp::sig::VectorOf<double>& target,
                                     const std::string& objName, const std::string handToUse="");


        yarp::sig::VectorOf<double> applySafetyMargins(const yarp::sig::VectorOf<double>& in);

        bool home(const std::string &part = "all");

        bool take(const std::string &sName, const yarp::os::Bottle &options = yarp::os::Bottle());

        bool push(const std::string &sName, const yarp::os::Bottle &options = yarp::os::Bottle());

        bool point(const yarp::sig::VectorOf<double> &targetUnsafe, const yarp::os::Bottle &options = yarp::os::Bottle());

        bool drop(const yarp::os::Bottle &options = yarp::os::Bottle());

        bool dropOn(const yarp::sig::VectorOf<double> &targetUnsafe, const yarp::os::Bottle &options = yarp::os::Bottle());

        bool observe(const yarp::os::Bottle &options = yarp::os::Bottle());

        bool expect(const yarp::os::Bottle &options = yarp::os::Bottle());

        bool give(const yarp::os::Bottle &options = yarp::os::Bottle());

        bool waving(const bool sw);

        bool look(const yarp::sig::VectorOf<double> &target, const yarp::os::Bottle &options = yarp::os::Bottle());

        bool track(const yarp::sig::VectorOf<double> &target, const yarp::os::Bottle &options = yarp::os::Bottle());

        bool impedance(const bool sw);

        bool setExecTime(const double execTime);

        ~SubSystem_ARE();
    };
}

#endif