tibi_dabo_arm_driver.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 _tibi_dabo_arm_driver_h_
#define _tibi_dabo_arm_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <tibi_dabo_arm_node/TibiDaboArmConfig.h>

//include tibi_dabo_arm_driver main library
#include "segway_arm.h"
#include "motion_sequence.h"

extern std::string config_path;
extern std::string motion_path;

class TibiDaboArmDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    CSegwayArm arm_driver;
    CMotionSequence *motion_sequence;
    // dynamic reconfigure variables
    std::string arm_config_file;
    std::string xml_path;
    // list of available XML files
    std::vector<std::string> config_files;
    std::vector<std::string> motion_seq_files;
    // configuration variables
    int feedback_rate;
    bool absolute_motion;
    bool position_control;
  protected:
    void scan_XML_files(void);
  public:
    typedef tibi_dabo_arm_node::TibiDaboArmConfig Config;

    Config config_;

    TibiDaboArmDriver();

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all tibi_dabo_arm_driver interface methods to retrieve and set
    // the driver parameters
    // API for the motion sequences
    void start_motion_sequence(std::string &filename);
    void start_motion_sequence(std::vector<TMotionStep> &seq);
    void pause_motion_sequence(void);
    void resume_motion_sequence(void);
    void stop_motion_sequence(void);
    std::string get_motion_sequence_complete_event_id(void);
    std::string get_motion_sequence_error_event_id(void);
    std::string get_motion_sequence_error_message(void);
    float get_motion_sequence_completed_percentage(void);
    // API for the discete motions
    std::string get_position_reached_event_id(void);
    void move(std::vector<float> &position,std::vector<float> &velocity,std::vector<float> &acceleration);
    void stop(void);
    void get_position(std::vector<float> &position);
    void get_velocity(std::vector<float> &velocity);
    void set_absolute_motion(bool status);
    void set_position_control(bool status);
    bool using_position_control(void);
    bool using_absolute_motion(void);
    // functions to handle the XML files
    unsigned int get_num_config_files(void);
    std::string get_config_file(unsigned int index);
    unsigned int get_num_motion_seq_files(void);
    std::string get_motion_seq_file(unsigned int index);
    int get_feedback_rate(void);
    ~TibiDaboArmDriver();
};

#endif