00001 00027 #ifndef SENSOR_UPDATER_HPP_ 00028 #define SENSOR_UPDATER_HPP_ 00029 00030 00031 00032 #include <ros/ros.h> 00033 #include <vector> 00034 #include <list> 00035 #include <queue> 00036 #include <boost/thread.hpp> 00037 #include <boost/smart_ptr.hpp> 00038 #include "sr_robot_lib/generic_updater.hpp" 00039 00040 #include <sr_external_dependencies/types_for_external.h> 00041 extern "C" 00042 { 00043 #include <sr_external_dependencies/external/0220_palm_edc/0220_palm_edc_ethercat_protocol.h> 00044 } 00045 00046 namespace generic_updater 00047 { 00058 template <class CommandType> 00059 class SensorUpdater : 00060 public GenericUpdater<CommandType> 00061 { 00062 public: 00063 SensorUpdater(std::vector<UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state); 00064 ~SensorUpdater(); 00065 00073 operation_mode::device_update_state::DeviceUpdateState build_init_command(CommandType* command); 00074 00084 operation_mode::device_update_state::DeviceUpdateState build_command(CommandType* command); 00085 00095 bool reset(); 00096 }; 00097 } 00098 00099 00100 /* For the emacs weenies in the crowd. 00101 Local Variables: 00102 c-basic-offset: 2 00103 End: 00104 */ 00105 00106 #endif /* SENSOR_UPDATER_HPP_ */