UBI0.hpp

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#ifndef _UBI0_HPP_
#define _UBI0_HPP_

#include <vector>
#include <string>
#include <sr_robot_msgs/UBI0All.h>
#include <sr_robot_msgs/UBI0.h>
#include <sr_robot_msgs/AuxSpiData.h>
#include <sr_robot_msgs/MidProxDataAll.h>
#include <sr_robot_msgs/MidProxData.h>
#include <realtime_tools/realtime_publisher.h>

#include "sr_robot_lib/generic_tactiles.hpp"
#include "sr_robot_lib/generic_updater.hpp"

namespace tactiles
{
template<class StatusType, class CommandType>
class UBI0 :
        public GenericTactiles<StatusType, CommandType>
{
public:
  UBI0(ros::NodeHandle nh, std::string device_id, std::vector<generic_updater::UpdateConfig> update_configs_vector,
       operation_mode::device_update_state::DeviceUpdateState update_state);

  UBI0(ros::NodeHandle nh, std::string device_id, std::vector<generic_updater::UpdateConfig> update_configs_vector,
       operation_mode::device_update_state::DeviceUpdateState update_state,
       boost::shared_ptr<std::vector<GenericTactileData> > init_tactiles_vector);

  void init(std::vector<generic_updater::UpdateConfig> update_configs_vector,
            operation_mode::device_update_state::DeviceUpdateState update_state);

  virtual void update(StatusType *status_data);

  virtual void publish();

  virtual void add_diagnostics(std::vector<diagnostic_msgs::DiagnosticStatus> &vec,
                               diagnostic_updater::DiagnosticStatusWrapper &d);


  virtual std::vector<AllTactileData> *get_tactile_data();

protected:
  boost::shared_ptr<std::vector<UBI0Data> > tactiles_vector;

  boost::shared_ptr<UBI0PalmData> palm_tactiles;

  // Auxiliar Spi data (sometimes it is a palm tactile sensor) real time publisher
  boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::AuxSpiData> > aux_spi_publisher;
};  // end class


// class template specialization.

template<>
class UBI0<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND> :
        public GenericTactiles<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS,
                ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND>
{
public:
  UBI0(ros::NodeHandle nh, std::string device_id, std::vector<generic_updater::UpdateConfig> update_configs_vector,
       operation_mode::device_update_state::DeviceUpdateState update_state)
          : GenericTactiles<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS,
          ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND>(nh, device_id, update_configs_vector, update_state)
  {
    ROS_ERROR("This UBI0 tactile object should not have been instantiated for this type of ETHERCAT_DATA_STRUCTURE");
  }

  UBI0(ros::NodeHandle nh, std::string device_id, std::vector<generic_updater::UpdateConfig> update_configs_vector,
       operation_mode::device_update_state::DeviceUpdateState update_state,
       boost::shared_ptr<std::vector<GenericTactileData> > init_tactiles_vector)
          : GenericTactiles<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS,
          ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND>(nh, device_id, update_configs_vector, update_state)
  {
    ROS_ERROR("This UBI0 tactile object should not have been instantiated for this type of ETHERCAT_DATA_STRUCTURE");
  }

  ~UBI0()
  {
  };
};  // end class

template<>
class UBI0<ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND> :
        public GenericTactiles<ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS,
                ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND>
{
public:
  UBI0(ros::NodeHandle nh, std::string device_id, std::vector<generic_updater::UpdateConfig> update_configs_vector,
       operation_mode::device_update_state::DeviceUpdateState update_state)
          : GenericTactiles<ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS,
          ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND>(nh, device_id, update_configs_vector, update_state)
  {
    ROS_ERROR("This UBI0 tactile object should not have been instantiated for this type of ETHERCAT_DATA_STRUCTURE");
  }

  UBI0(ros::NodeHandle nh, std::string device_id, std::vector<generic_updater::UpdateConfig> update_configs_vector,
       operation_mode::device_update_state::DeviceUpdateState update_state,
       boost::shared_ptr<std::vector<GenericTactileData> > init_tactiles_vector)
          : GenericTactiles<ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS,
          ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND>(nh, device_id, update_configs_vector, update_state)
  {
    ROS_ERROR("This UBI0 tactile object should not have been instantiated for this type of ETHERCAT_DATA_STRUCTURE");
  }

  ~UBI0()
  {
  };
};  // end class
}  // namespace tactiles

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

#endif /* _UBI0_HPP_ */