biotac.hpp

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#ifndef _BIOTAC_HPP_
#define _BIOTAC_HPP_

#include <vector>
#include <string>
#include <sr_robot_msgs/BiotacAll.h>
#include <sr_robot_msgs/Biotac.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 Biotac :
        public GenericTactiles<StatusType, CommandType>
{
public:
  Biotac(ros::NodeHandle nh, std::string device_id, std::vector<generic_updater::UpdateConfig> update_configs_vector,
         operation_mode::device_update_state::DeviceUpdateState update_state);

  Biotac(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();

  void set_version_specific_details();

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

  size_t nb_electrodes_;

  static const size_t nb_electrodes_v1_;
  static const size_t nb_electrodes_v2_;
};  // end class
}  // namespace tactiles

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

#endif /* _SHADOW_PSTS_HPP_ */