ronex_utils.hpp

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/*
 * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
 * 
 * This library 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 3.0 of the License, or (at your option) any later version.
 * 
 * This library 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 library.
 */

#ifndef _RONEX_UTILS_HPP_
#define _RONEX_UTILS_HPP_

#include <ros_ethercat_hardware/ethercat_device.h>
#include <boost/lexical_cast.hpp>
#include <ros/ros.h>

#include <sr_ronex_utilities/sr_ronex_utilities.hpp>

namespace ronex
{
  static inline std::string get_serial_number(const EtherCAT_SlaveHandler *sh)
  {
    return boost::lexical_cast<std::string>(sh->get_serial());
  }

  static inline std::string get_product_code(const EtherCAT_SlaveHandler *sh)
  {
    return boost::lexical_cast<std::string>(sh->get_product_code());
  }

  static inline std::string build_name( const std::string &product_alias, const std::string &ronex_id)
  {
    return std::string("/ronex/") + product_alias + '/' + ronex_id;
  }
}

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

#endif /* _RONEX_UTILS_HPP_ */