ridgeback_hardware.h

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#ifndef RIDGEBACK_BASE_RIDGEBACK_HARDWARE_H
#define RIDGEBACK_BASE_RIDGEBACK_HARDWARE_H

#include <vector>

#include "boost/thread.hpp"
#include "boost/foreach.hpp"
#include "boost/shared_ptr.hpp"
#include "hardware_interface/joint_state_interface.h"
#include "hardware_interface/joint_command_interface.h"
#include "hardware_interface/robot_hw.h"
#include "ros/ros.h"
#include "sensor_msgs/JointState.h"
#include "puma_motor_driver/socketcan_gateway.h"
#include "puma_motor_driver/driver.h"
#include "puma_motor_driver/multi_driver_node.h"
#include "puma_motor_msgs/MultiFeedback.h"

namespace ridgeback_base
{

class RidgebackHardware : public hardware_interface::RobotHW
{
public:
  RidgebackHardware(ros::NodeHandle& nh, ros::NodeHandle& pnh,
                    puma_motor_driver::Gateway& gateway);
  void init();  // Connect to CAN
  bool connectIfNotConnected();  // Keep trying till it connects
  std::vector<puma_motor_driver::Driver>& getDrivers();
  void configure();  // Configures the motor drivers
  void verify();
  bool isActive();

  void powerHasNotReset();  // Checks if power has been reset
  bool inReset();  // Returns if the cm should be reset based on the state of the motors drivers.
                   // If they have been configured.
  void requestData();
  void updateJointsFromHardware();
  void command();

  void canSend();
  void canRead();

private:
  ros::NodeHandle nh_, pnh_;

  puma_motor_driver::Gateway& gateway_;
  std::vector<puma_motor_driver::Driver> drivers_;
  boost::shared_ptr<puma_motor_driver::MultiDriverNode> multi_driver_node_;

  bool active_;
  double gear_ratio_;
  int encoder_cpr_;

  // ROS Control interfaces
  hardware_interface::JointStateInterface joint_state_interface_;
  hardware_interface::VelocityJointInterface velocity_joint_interface_;

  // These are mutated on the controls thread only.
  struct Joint
  {
    double position;
    double velocity;
    double effort;
    double velocity_command;

    Joint() : position(0), velocity(0), effort(0), velocity_command(0)
    {
    }
  }
  joints_[4];
};

}  // namespace ridgeback_base

#endif  // RIDGEBACK_BASE_RIDGEBACK_HARDWARE_H