/home/sagar/ms/thesis/sarathi/src/libsarathi/libsarathi.hpp

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#ifndef __LIBSARATHI__
#define __LIBSARATHI__

#include "../gsoap/soapsarathiProxy.h"

#include <stdexcept>

#define SOME_ERROR_OCCURRED -1
#define ALL_OK 1

namespace libsarathi {

class sException: public virtual std::runtime_error {
public: 
        sException() throw();
        sException(std::string faultstr, std::string detailstr) throw();
        sException(std::string faultstr, std::string detailstr, int errcode) throw();
        ~sException() throw();
        
        virtual const char *detail() const throw();
        virtual const char *hint() const throw();
        virtual void get_exceptiondata(hyperpoint &point) const throw();
        virtual void get_exceptiondata(hyperarray &array) const throw();
        virtual int errorcode() const throw();
        
private:
        int errcode;
        std::string detailstring;
        std::string hintstring;
        
        hyperpoint exceptiondata_point;
        hyperarray exceptiondata_array;
        
}; //class sException

class serverProxy {
private:
        sarathiProxy *sarathiServer;
                void handle_error();
public:

        serverProxy();
        ~serverProxy();
        int initialize (const std::string url, int port);
        int stop (bool terminate_on_error);
                int set_planner_file(std::string filename);
        int plan_to(std::string spacetype, hyperpoint *from, hyperpoint *to);
        int plan_along(std::string spacetype, hyperarray *keypoints);  
                int get_path (std::string spacetype, hyperarray* path);
        int clear_path(void);
        int get_position (std::string spacetype, hyperpoint *curr_pos);
        int set_position (std::string spacetype, hyperpoint *des_pos);
                int move(void);
        int move_to (std::string spacetype, hyperpoint *point);
        int move_along (std::string  spacetype, hyperarray *pointlist);
                int get_planning_status (std::string &status, bool &done, bool &result);
                int get_motion_status (std::string &status, bool &done, bool &result);
        
};// class serverProxy

}//namespace libsarathi

#endif // __LIBSARATHI__

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