DHDDevice.hpp

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/*
 * DHDDevice.h
 *
 *  Created on: Sep 29, 2011
 *      Author: mriedel
 */

#ifndef DHDDEVICE_HPP_
#define DHDDEVICE_HPP_

#include <ros/ros.h>
#include <iostream>

#include <boost/thread.hpp>

#include <tk_haptics_base/HapticDeviceController.hpp>
#include <pluginlib/class_loader.h>

#include "DHDDeviceOptions.hpp"

namespace TELEKYB_NAMESPACE
{

class DHDDevice {
private:
        // ID of the Device
        int id;
        std::string name;
        std::string identifier;
        std::string longIdentifier;

        // Options
        DHDDeviceOptions *options;

        // Controller
        HapticDeviceController *controller;

        HapticInput input;
        HapticOuput output;

        // Params
        //DHDParams params;
        //Position3D offset;
        //double normFactor;

        // ROS
        ros::NodeHandle nodeHandle;

        // tk_haptics_msgs::TKHapticOutput Publisher
        ros::Publisher statusPub;

        // Thread
        boost::thread thread;

        // initializer before spin loop
        bool init();
        // the threaded function
        void spin();

public:
        DHDDevice(int id_, bool alreadyOpen = false);
        virtual ~DHDDevice();

        std::string getLongIdentifier() const;

        // Thread stuff
        void startThread();
        void joinThread();

        void loadController(pluginlib::ClassLoader<HapticDeviceController>& controllerLoader);
};

} // Namespace

#endif /* DHDDEVICE_HPP_ */