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);
 
/**
 * \chinese
 * @defgroup ApplicationApi ApplicationApi(应用程序)
 * @ingroup ApplicationApi
 * 应用程序接口
 * 提供对各种不同应用程序和上下文相关的功能与服务的访问。这包括 AuboScope 内部已有的功
 * 能，以及在 AuboScope 中创建要使用的额外模型元素。
 * \endchinese
 * \english
 * @defgroup ApplicationApi ApplicationApi
 * @ingroup ApplicationApi
 * ApplicationApi
 * 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.
 * \endenglish
 
 */
class ARCS_ABI_EXPORT ApplicationApi
{
public:
    ApplicationApi(ApplicationApi &f);
    ApplicationApi(ApplicationApi &&f);
    virtual ~ApplicationApi();
 
    /**
     * @ingroup ApplicationApi
     * @ref IoModel
     * \chinese
     * 获取IO模型接口，用于操作机器人的输入和输出。
     * @return 用于操作机器人输入和输出的接口。
     * \endchinese
     * \english
     * Returns an interface for working with the inputs and outputs of the robot.
     * @return An interface for working with the inputs and outputs of the robot.
     * \endenglish
     */
    IoModelPtr getIoModel();
 
    /**
     * @ingroup ApplicationApi
     * @ref FeatureModel
     * \chinese
     * 获取特征模型接口，用于操作当前安装中的特征。
     * @return 用于操作当前安装中特征的接口。
     * \endchinese
     * \english
     * Returns an interface for working with the features of the current
     * installation.
     * @return An interface for working with the features of the current
     * installation.
     * \endenglish
     */
    FeatureModelPtr getFeatureModel();
 
    /**
     * @ingroup ApplicationApi
     * @ref TcpModel
     * \chinese
     * 获取TCP模型接口，用于访问当前安装中的TCP。
     * @return 用于访问当前安装中TCP的接口。
     * \endchinese
     * \english
     * Returns an interface for accessing the TCPs of the current installation.
     * @return An interface for accessing the TCPs of the current installation.
     * \endenglish
     */
    TcpModelPtr getTcpModel();
 
    /**
     * @ingroup ApplicationApi
     * @ref PayloadModel
     * \chinese
     * 获取负载模型接口，用于访问当前AuboScope安装中的负载。
     *
     * @return 用于访问当前AuboScope安装中负载的接口。
     * \endchinese
     * \english
     * 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.
     * \endenglish
     */
    PayloadModelPtr getPayloadModel();
 
    /**
     * @ingroup ApplicationApi
     * @ref VariableModel
     * \chinese
     * 获取变量模型接口，用于操作变量。
     * @return 用于操作变量的接口。
     * \endchinese
     * \english
     * Returns an interface for working with variables.
     * @return An interface for working with variables.
     * \endenglish
     */
    VariableModelPtr getVariableModel();
 
    /**
     * @ingroup ApplicationApi
     * @ref ValueFactory
     * \chinese
     * 获取值工厂接口，用于访问能够创建值对象的各种工厂。
     * @return 用于访问能够创建值对象的各种工厂的接口。
     * \endchinese
     * \english
     * Returns an interface for accessing various factories capable of creating
     * value objects.
     * @return An interface for accessing various factories capable of creating
     * value objects.
     * \endenglish
     */
    ValueFactoryPtr getValueFactory();
 
    //    /**
    //   * @return An interface with access to various queryable-only system
    // resources
    //   */
    //  ResourceModel getResourceModel();
 
    /**
     * \chinese
     * 此方法用于获取指定的{@link InstallationNodeContribution}实例。
     *
     * @param installationType 要返回的安装节点贡献的类。
     * @param <T> 用于指定{@link InstallationNodeContribution}的泛型。
     * @return 安装节点实例。
     * \endchinese
     * \english
     * 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.
     * \endenglish
     */
    template <typename T>
    std::shared_ptr<T> getInstallationNode()
    {
        return std::dynamic_pointer_cast<T>(
            getInstallationNode(typeid(T).name()));
    }
    InstallationNodeContributionPtr getInstallationNode(
        const char *typeidOfClass);
 
    /**
     * @ingroup ApplicationApi
     * @ref DeviceManager
     * \chinese
     * 此方法用于获取指定的{@link DeviceManager}实例。
     *
     * @param deviceManagerClass 要返回的设备管理器类。
     * @param <T> 要返回的类的泛型类型。
     * @return 用于注册和操作特定设备的接口。
     * \endchinese
     * \english
     * 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.
     * \endenglish
     */
    DeviceManagerPtr getDeviceManager();
 
    /**
     * \chinese
     * 获取机器人代理，提供与机器人底层SDK的交互接口。
     * @return 机器人代理指针。
     * \endchinese
     * \english
     * Returns the robot proxy, providing an interaction interface with the
     * underlying robot SDK.
     * @return The robot proxy pointer.
     * \endenglish
     */
    aubo_sdk::RobotProxyPtr getRobotProxy();
 
protected:
    ApplicationApi();
 
private:
    friend class DataSwitch;
    void *d_{ nullptr };
};
 
} // namespace aubo_scope
} // namespace arcs
 
#endif // AUBO_SCOPE_APPLICATION_API_H