application_api.h

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#ifndef AUBO_SCOPE_APPLICATION_API_H
#define AUBO_SCOPE_APPLICATION_API_H
 
#include <aubo_caps/domain/io/io_model.h>
#include <aubo_caps/domain/device/device_manager.h>
#include <aubo_caps/domain/feature/feature_model.h>
#include <aubo_caps/domain/payload/payload_model.h>
#include <aubo_caps/domain/tcp/tcp_model.h>
#include <aubo_caps/domain/variable/variable_model.h>
#include <aubo_caps/domain/value/value_factory_provider.h>
 
namespace arcs {
 
namespace aubo_sdk {
ARCS_CLASS_FORWARD(RobotProxy);
}
 
namespace aubo_scope {
ARCS_CLASS_FORWARD(ApplicationApi);
ARCS_CLASS_FORWARD(InstallationNodeContribution);
 
/**
 * Provides access to functionality and services which are relevant for various
 * different applications and contexts. This includes what is available from
 * within AuboScope, as well as creating additional model elements to be used
 * within AuboScope.
 */
class ARCS_ABI_EXPORT ApplicationApi
{
public:
    ApplicationApi(ApplicationApi &f);
    ApplicationApi(ApplicationApi &&f);
    virtual ~ApplicationApi();
 
    /**
     * @return An interface for working with the inputs and outputs of the robot
     */
    IoModelPtr getIoModel();
 
    /**
     * @return An interface for working with the features of the current
     * installation
     */
    FeatureModelPtr getFeatureModel();
 
    /**
     * @return An interface for accessing the TCPs of the current installation
     */
    TcpModelPtr getTcpModel();
 
    /**
     *
     * Gets an interface which provides access the payloads in the current
     * AuboScope installation.
     *
     * @return An interface for accessing the payloads in the current AuboScope
     * installation
     */
    PayloadModelPtr getPayloadModel();
 
    /**
     * @return An interface for working with variables
     */
    VariableModelPtr getVariableModel();
 
    /**
     * @return An interface for accessing various factories capable of creating
     * value objects.
     */
    ValueFactoryPtr getValueFactory();
 
    //    /**
    //   * @return An interface with access to various queryable-only system
    // resources
    //   */
    //  ResourceModel getResourceModel();
 
    /**
     * This method can be used to get a specific {@link
     * InstallationNodeContribution} instance
     *
     * @param installationType The class of the installation node
     * contribution to return
     * @param <T> The generic for specifying the {@link
     * InstallationNodeContribution}
     * @return The installation node instance
     */
    template <typename T>
    std::shared_ptr<T> getInstallationNode()
    {
        return std::dynamic_pointer_cast<T>(
            getInstallationNode(typeid(T).name()));
    }
    InstallationNodeContributionPtr getInstallationNode(
        const char *typeidOfClass);
 
    /**
     * This method can be used to get a specific {@link DeviceManager}
     * instance
     *
     * @param deviceManagerClass The class for the device manager to return
     * @param <T> The generic type of class to return
     * @return An interface for registering and working with a specific
     * device
     */
    DeviceManagerPtr getDeviceManager();
 
    /**
     * @brief getRobotProxy
     * @return
     */
    aubo_sdk::RobotProxyPtr getRobotProxy();
 
protected:
    ApplicationApi();
 
private:
    friend class DataSwitch;
    void *d_{ nullptr };
};
 
} // namespace aubo_scope
} // namespace arcs
 
#endif // AUBO_SCOPE_APPLICATION_API_H