00001 00027 #ifndef SR_EDC_ETHERCAT_DRIVERS_SR06_H 00028 #define SR_EDC_ETHERCAT_DRIVERS_SR06_H 00029 00030 #include <ros_ethercat_hardware/ethercat_hardware.h> 00031 #include <sr_edc_ethercat_drivers/sr_edc.h> 00032 #include <realtime_tools/realtime_publisher.h> 00033 #include <std_msgs/Int16.h> 00034 #include <std_msgs/Float64MultiArray.h> 00035 #include <sr_robot_msgs/SimpleMotorFlasher.h> 00036 #include <pthread.h> 00037 #include <bfd.h> 00038 #include <boost/smart_ptr.hpp> 00039 #include <map> 00040 #include <vector> 00041 #include <boost/assign.hpp> 00042 #include <boost/algorithm/string.hpp> 00043 #include <boost/algorithm/string/find_iterator.hpp> 00044 00045 #include <sr_robot_lib/sr_motor_hand_lib.hpp> 00046 00047 #include <sr_robot_msgs/EthercatDebug.h> 00048 00049 #include <sr_external_dependencies/types_for_external.h> 00050 00051 extern "C" 00052 { 00053 #include <sr_external_dependencies/external/0220_palm_edc/0220_palm_edc_ethercat_protocol.h> 00054 } 00055 00056 class SR06 : 00057 public SrEdc 00058 { 00059 public: 00060 SR06(); 00061 00062 virtual void construct(EtherCAT_SlaveHandler *sh, int &start_address); 00063 00064 virtual int initialize(hardware_interface::HardwareInterface *hw, bool allow_unprogrammed = true); 00065 00066 virtual void multiDiagnostics(vector<diagnostic_msgs::DiagnosticStatus> &vec, unsigned char *buffer); 00067 00068 virtual void packCommand(unsigned char *buffer, bool halt, bool reset); 00069 00070 virtual bool unpackState(unsigned char *this_buffer, unsigned char *prev_buffer); 00071 00072 protected: 00073 typedef realtime_tools::RealtimePublisher<std_msgs::Int16> rt_pub_int16_t; 00074 std::vector<boost::shared_ptr<rt_pub_int16_t> > realtime_pub_; 00075 00077 boost::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Float64MultiArray> > extra_analog_inputs_publisher; 00078 00080 virtual void reinitialize_boards(); 00081 00090 virtual void get_board_id_and_can_bus(int board_id, int *can_bus, unsigned int *board_can_id); 00091 00092 private: 00093 // std::string firmware_file_name; 00094 00095 // counter for the number of empty buffer we're reading. 00096 unsigned int zero_buffer_read; 00097 00098 boost::shared_ptr<shadow_robot::SrMotorHandLib<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS, 00099 ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND> > sr_hand_lib; 00100 00105 int16_t cycle_count; 00106 00108 boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::EthercatDebug> > debug_publisher; 00109 }; 00110 00111 00112 /* For the emacs weenies in the crowd. 00113 Local Variables: 00114 c-basic-offset: 2 00115 End: 00116 */ 00117 00118 00119 #endif // SR_EDC_ETHERCAT_DRIVERS_SR06_H 00120