group_command.hpp

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#pragma once

#include "hebi.h"

#include <memory>
#include <vector>

#include "Eigen/Eigen"
#include "command.hpp"
#include "group_message_wrapper.hpp"
#include "util.hpp"

namespace hebi {

class GroupCommand final {
public:
#ifndef DOXYGEN_OMIT_INTERNAL

  std::shared_ptr<GroupCommandWrapper> internal_;
#endif // DOXYGEN_OMIT_INTERNAL

private:
  const size_t number_of_modules_;
  std::vector<Command> commands_;
  const bool is_subview_{};

  GroupCommand(std::shared_ptr<GroupCommandWrapper>, std::vector<int> indices);

public:
  GroupCommand(size_t number_of_modules);

  ~GroupCommand() noexcept = default;

  GroupCommand(GroupCommand&&) = default;

  GroupCommand subview(std::vector<int> indices) const;

  bool isSubview() const { return is_subview_; }

  size_t size() const;

  Command& operator[](size_t index);

  const Command& operator[](size_t index) const;

  void clear();

  bool readGains(const std::string& file);

  bool writeGains(const std::string& file) const;

  FunctionCallResult readSafetyParameters(const std::string& file) {
    if (is_subview_)
      return FunctionCallResult{false, "Cannot call this method on a subview!"};
    auto res = hebiGroupCommandReadSafetyParameters(internal_->internal_, file.c_str()) == HebiStatusSuccess;
    if (res) {
      return FunctionCallResult{true};
    }
    return FunctionCallResult{false, std::string{hebiSafetyParametersGetLastError()}};
  }

  FunctionCallResult writeSafetyParameters(const std::string& file) const {
    if (is_subview_)
      return FunctionCallResult{false, "Cannot call this method on a subview!"};
    auto res = hebiGroupCommandWriteSafetyParameters(internal_->internal_, file.c_str()) == HebiStatusSuccess;
    if (res) {
      return FunctionCallResult{true};
    }
    return FunctionCallResult{false, std::string{hebiSafetyParametersGetLastError()}};
  }

  void setPosition(const Eigen::VectorXd& position);
  void setVelocity(const Eigen::VectorXd& velocity);
  void setEffort(const Eigen::VectorXd& effort);
  void setSpringConstant(const Eigen::VectorXd& springConstant);

  Eigen::VectorXd getPosition() const;
  Eigen::VectorXd getVelocity() const;
  Eigen::VectorXd getEffort() const;
  Eigen::VectorXd getSpringConstant() const;

  void getPosition(Eigen::VectorXd& out) const;
  void getVelocity(Eigen::VectorXd& out) const;
  void getEffort(Eigen::VectorXd& out) const;
  void getSpringConstant(Eigen::VectorXd& out) const;
};

} // namespace hebi