SVHNode.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-


// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK SVH Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE.txt in the top
// directory of the source code.
//
// © Copyright 2014 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2014 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef S5FH_NODE_H
#define S5FH_NODE_H

// Messages
#include <std_msgs/Int8.h>
#include <std_msgs/Empty.h>
#include <sensor_msgs/JointState.h>
#include "std_msgs/MultiArrayLayout.h"
#include "std_msgs/MultiArrayDimension.h"
#include "std_msgs/Float64MultiArray.h"

// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include <schunk_svh_driver/svhConfig.h>

// Driver Specific things
#include <driver_svh/SVHFingerManager.h>
#include <driver_svh/SVHPositionSettings.h>
#include <driver_svh/SVHCurrentSettings.h>

#include <boost/shared_ptr.hpp>

class SVHNode{

public:
  SVHNode(const ros::NodeHandle &nh);
  ~SVHNode();

  void dynamic_reconfigure_callback(svh_controller::svhConfig &config, uint32_t level);

  void connectCallback(const std_msgs::Empty&);

  void resetChannelCallback(const std_msgs::Int8ConstPtr& channel);

  void enableChannelCallback(const std_msgs::Int8ConstPtr& channel);

  void jointStateCallback(const sensor_msgs::JointStateConstPtr& input);

  sensor_msgs::JointState getChannelFeedback();

  std_msgs::Float64MultiArray getChannelCurrents();


private:
  boost::shared_ptr<driver_svh::SVHFingerManager> fm_;

  std::string serial_device_name_;

  int connect_retry_count;

  std::string name_prefix;

  sensor_msgs::JointState channel_pos_;

  std_msgs::Float64MultiArray channel_currents;
};

#endif // S5FH_CONTROLLER_H