00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _teo_battery_monitor_driver_h_ 00026 #define _teo_battery_monitor_driver_h_ 00027 00028 #include <iri_base_driver/iri_base_driver.h> 00029 #include <teo_battery_monitor/TeoBatteryMonitorConfig.h> 00030 00031 //include teo_battery_monitor_driver main library 00032 #include "segway_battery.h" 00033 00053 class TeoBatteryMonitorDriver : public iri_base_driver::IriBaseDriver 00054 { 00055 private: 00056 // private attributes and methods 00057 CSegway_Battery *battery; 00058 std::string serial_num; 00059 // alarm identifiers 00060 std::string low_capacity; 00061 std::string low_capacity_event_id; 00062 protected: 00063 static bool low_capacity_condition(TBatteryInfo *info); 00064 public: 00071 typedef teo_battery_monitor::TeoBatteryMonitorConfig Config; 00072 00079 Config config_; 00080 00089 TeoBatteryMonitorDriver(void); 00090 00101 bool openDriver(void); 00102 00113 bool closeDriver(void); 00114 00125 bool startDriver(void); 00126 00137 bool stopDriver(void); 00138 00150 void config_update(Config& new_cfg, uint32_t level=0); 00151 00152 // here define all teo_battery_monitor_driver interface methods to retrieve and set 00153 // the driver parameters 00154 bool check_alarms(void); 00155 void get_battery_info(TBatteryInfo *info); 00156 00163 ~TeoBatteryMonitorDriver(void); 00164 }; 00165 00166 #endif