armor_tools.h

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#ifndef __H_ARMOR_TOOLS_H__
#define __H_ARMOR_TOOLS_H__
 
#include "ros/ros.h"
#include "armor_msgs/QueryItem.h"
#include "armor_msgs/ArmorDirective.h"
#include "armor_msgs/ArmorDirectiveReq.h"
#include "armor_msgs/ArmorDirectiveRes.h"
 
#include <iostream>
#include <vector>
#include <map>
#include <string>
#include <fstream>
 
#define ARMOR_DEFAULT_URI "http://www.emarolab.it/cluedo-ontology"
#define ARMOR_DEFAULT_REASONER "PELLET"
#define ARMOR_DEFAULT_CLIENT "armor_client"
#define ARMOR_DEFAULT_REFERENCE "cluedo"
#define ARMOR_DEFAULT_TIMEOUT 5.00
#define ARMOR_DEFAULT_DEBUGMODE true
 
#define ARMOR_SERVICE_SINGLE_REQUEST "/armor_interface_srv"
#define ARMOR_SERVICE_MULTIPLE_REQUESTS "/armor_interface_serialized_srv"
 
#define ARMOR_CLASS_LABEL "[armor_tools]"
#define ARMOR_INFO( msg ) if( this->DebugMode ) ROS_INFO_STREAM( ARMOR_CLASS_LABEL << " " << msg )
#define ARMOR_ERR( msg ) if( this->DebugMode ) ROS_WARN_STREAM( ARMOR_CLASS_LABEL << " ERROR: " << msg )
#define ARMOR_CHECK_INTERFACE( returnval ) if( !IsLoadedInterface || !ArmorSrv.exists( ) ) { ARMOR_ERR( "bad interface!" ); return returnval; }
#define ARMOR_RES( msg ) msg.response.armor_response
#define ARMOR_RES_QUERY( msg ) msg.response.armor_response.queried_objects
 
#define SS( this_string ) std::string( this_string )
#define SSS( this_thing ) std::to_string( this_thing )
#define BOOL_TO_CSTR( booleanvalue ) ( booleanvalue ? "true" : "false" )
#define LOGSQUARE( str ) "[" << str << "] "
 
 
 
 
 
class ArmorTools
{
public:
 
    ArmorTools(
        std::string client = ARMOR_DEFAULT_CLIENT,
        std::string reference = ARMOR_DEFAULT_REFERENCE,
        bool dbmode = false
    );
    
    
 
    ArmorTools( bool dbmode );
    
    
    ~ArmorTools();
    
    
 
    armor_msgs::ArmorDirective GetRequest(
        std::string command,
        std::string first_spec = "",
        std::string second_spec = "",
        std::string arg1 = "",
        std::string arg2 = "",
        std::string arg3 = "",
        std::string arg4 = "",
        std::string arg5 = ""
    );
    
    
 
    bool CallArmor( armor_msgs::ArmorDirective& data );
    
    
 
    bool LoadOntology( 
        std::string path, 
        std::string uri = ARMOR_DEFAULT_URI,
        bool manipulationFlag = true,
        std::string reasoner = ARMOR_DEFAULT_REASONER,
        bool buffered_reasoner = true 
    );
    
    
 
    bool Connect( float timeout = ARMOR_DEFAULT_TIMEOUT );
    
    
 
    bool ConnectAndLoad( 
        std::string path, 
        std::string uri = ARMOR_DEFAULT_URI,
        bool manipulationFlag = true,
        std::string reasoner = ARMOR_DEFAULT_REASONER,
        bool buffered_reasoner = true 
    );
    
    
 
    bool SaveOntology( std::string path );
    
    
 
    bool UpdateOntology( );
    
    
 
    void PrintRequest( armor_msgs::ArmorDirective& d );
    
    
 
    void PrintResponse( armor_msgs::ArmorDirective& d );
    
    
 
    void SwitchDebugMode( );
    
    
 
    int GetLastErrorCode( );
    
    
 
    std::string GetLastErrorDescription( );
    
    
 
    bool Success( );
    
    
 
    bool LoadedOntology( );
    
    
 
    bool TestInterface( );
    
    
 
    bool SendCommand(
        std::string command,
        std::string first_spec = "",
        std::string second_spec = "",
        std::string arg1 = "",
        std::string arg2 = "",
        std::string arg3 = "",
        std::string arg4 = "",
        std::string arg5 = "",
        bool printRequest = false
    );
    
    
 
    armor_msgs::ArmorDirectiveRes& GetLastRes( );
    
    
 
    armor_msgs::ArmorDirectiveReq& GetLastReq( );
    
    
 
    void PrintLastRes( );
    
    
 
    void PrintLastReq( );
    
protected:
 
    bool DebugMode = false;
    
private:
    // aRMOR service
    ros::ServiceClient ArmorSrv;
    
    // client name
    std::string ClientName = ARMOR_DEFAULT_CLIENT;
    
    // reference name
    std::string ReferenceName = ARMOR_DEFAULT_REFERENCE;
    
    // uri
    std::string uri = ARMOR_DEFAULT_URI;
    
    // interface loaded? 
    //    l'ultimo comando load ha avuto successo?
    bool IsLoadedInterface = false;
    
    // last response from the server
    armor_msgs::ArmorDirectiveRes LastRes;
    
    // last request sent to the server
    armor_msgs::ArmorDirectiveReq LastReq;
    
    // controlla se il dato file esiste
    bool FileExist( std::string path );
};
 
 
#endif