real_shadowhand.h

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#ifndef         REAL_SHADOWHAND_H_
# define        REAL_SHADOWHAND_H_

#include "sr_hand/hand/sr_articulated_robot.h"

namespace sr_self_tests
{
  static const unsigned int nb_targets_to_send = 100;

  static const unsigned int msgs_frequency_size = 5;
  //the rate at which we'll publish the data
  static const int msgs_frequency[msgs_frequency_size] = {1, 5, 10, 20, 100};

  static const unsigned int joints_to_test_size = 1;
  static const std::string joints_to_test[joints_to_test_size] = {"FFJ3"};
}

namespace shadowrobot
{
  class RealShadowhand : public SRArticulatedRobot
  {
  public:
    RealShadowhand();

    ~RealShadowhand();

    virtual short sendupdate( std::string joint_name, double target );

    virtual JointData getJointData( std::string joint_name );
    virtual JointsMap getAllJointsData();

    virtual short setContrl( std::string contrlr_name, JointControllerData ctrlr_data );
    virtual JointControllerData getContrl( std::string contrlr_name );
    virtual short setConfig( std::vector<std::string> myConfig );
    virtual void getConfig( std::string joint_name );
    virtual std::vector<DiagnosticData> getDiagnostics();
  protected:
    /***
     * Initializes the mapping between the joint_names and their data. This function fetches the joint_names from
     * the robot code.
     */
    void initializeMap();

     //    TESTS    //

    void pretest(diagnostic_updater::DiagnosticStatusWrapper& status);

    void posttest(diagnostic_updater::DiagnosticStatusWrapper& status);

    void test_messages(diagnostic_updater::DiagnosticStatusWrapper& status);

    std::pair<unsigned char, std::string> test_messages_routine(std::string joint_name, unsigned int repeat, ros::Rate rate);

  }; //end class
}

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/

#endif      /* !REAL_SHADOWHAND_H_ */