dynamixel_gripper_driver_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _dynamixel_gripper_driver_node_h_
#define _dynamixel_gripper_driver_node_h_

#include <iri_base_driver/iri_base_driver_node.h>
#include "dynamixel_gripper_driver.h"

// [publisher subscriber headers]

// [service client headers]

// [action server client headers]
#include <iri_dynamixel_gripper/openAction.h>
#include <iri_action_server/iri_action_server.h>
#include <iri_dynamixel_gripper/closeAction.h>

class DynamixelGripperDriverNode : public iri_base_driver::IriBaseNodeDriver<DynamixelGripperDriver>
{
  private:
    // [publisher attributes]

    // [subscriber attributes]

    // [service attributes]

    // [client attributes]

    // [action server attributes]
    void close_action_StartCallback(const iri_dynamixel_gripper::closeGoalConstPtr& goal);
    void close_action_StopCallback(void);
    bool close_action_IsFinishedCallback(void);
    bool close_action_HasSucceedCallback(void);
    void close_action_GetResultCallback(iri_dynamixel_gripper::closeResultPtr& result);
    void close_action_GetFeedbackCallback(iri_dynamixel_gripper::closeFeedbackPtr& feedback);

    void open_action_StartCallback(const iri_dynamixel_gripper::openGoalConstPtr& goal);
    bool open_action_IsFinishedCallback(void);
    void open_action_GetResultCallback(iri_dynamixel_gripper::openResultPtr& result);
    void open_action_GetFeedbackCallback(iri_dynamixel_gripper::openFeedbackPtr& feedback);


    IriActionServer<iri_dynamixel_gripper::closeAction> close_action__aserver_;
    IriActionServer<iri_dynamixel_gripper::openAction> open_action__aserver_;
    int max_torque_it_;
    bool last_action_successful_;

    // [action client attributes]

    void postNodeOpenHook(void);

  public:
    DynamixelGripperDriverNode(ros::NodeHandle& nh);

    ~DynamixelGripperDriverNode(void);

  protected:
    void mainNodeThread(void);

    // [diagnostic functions]

    void addNodeDiagnostics(void);

    // [driver test functions]

    void addNodeOpenedTests(void);

    void addNodeStoppedTests(void);

    void addNodeRunningTests(void);

    void reconfigureNodeHook(int level);

};

#endif