dynamixel_no_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_no_gripper_driver_node_h_
#define _dynamixel_no_gripper_driver_node_h_

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

// [publisher subscriber headers]

// [service client headers]

// [action server client headers]
#include <iri_common_drivers_msgs/tool_openAction.h>
#include <iri_action_server/iri_action_server.h>
#include <iri_common_drivers_msgs/tool_closeAction.h>

class DynamixelNoGripperDriverNode : public iri_base_driver::IriBaseNodeDriver<DynamixelNoGripperDriver>
{
    private:
        bool is_opened_;
        bool is_closed_;

        // [publisher attributes]

        // [subscriber attributes]

        // [service attributes]

        // [client attributes]

        // [action server attributes]
        IriActionServer<iri_common_drivers_msgs::tool_openAction> tool_open_aserver_;
        void tool_openStartCallback(const iri_common_drivers_msgs::tool_openGoalConstPtr& goal);
        void tool_openStopCallback(void);
        bool tool_openIsFinishedCallback(void);
        bool tool_openHasSucceedCallback(void);
        void tool_openGetResultCallback(iri_common_drivers_msgs::tool_openResultPtr& result);
        void tool_openGetFeedbackCallback(iri_common_drivers_msgs::tool_openFeedbackPtr& feedback);
        IriActionServer<iri_common_drivers_msgs::tool_closeAction> tool_close_aserver_;
        void tool_closeStartCallback(const iri_common_drivers_msgs::tool_closeGoalConstPtr& goal);
        void tool_closeStopCallback(void);
        bool tool_closeIsFinishedCallback(void);
        bool tool_closeHasSucceedCallback(void);
        void tool_closeGetResultCallback(iri_common_drivers_msgs::tool_closeResultPtr& result);
        void tool_closeGetFeedbackCallback(iri_common_drivers_msgs::tool_closeFeedbackPtr& feedback);

        // [action client attributes]

        void postNodeOpenHook(void);

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

        ~DynamixelNoGripperDriverNode(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