generic_updater.hpp

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#ifndef GENERIC_UPDATER_HPP_
#define GENERIC_UPDATER_HPP_

#include <ros/ros.h>
#include <vector>
#include <list>
#include <queue>
#include <boost/thread/mutex.hpp>
#include <boost/smart_ptr.hpp>
#include <sr_external_dependencies/types_for_external.h>

extern "C"
{
#include <sr_external_dependencies/external/0220_palm_edc/0220_palm_edc_ethercat_protocol.h>
#include <sr_external_dependencies/external/0230_palm_edc_TS/0230_palm_edc_ethercat_protocol.h>
#include <sr_external_dependencies/external/0320_palm_edc_muscle/0320_palm_edc_ethercat_protocol.h>
}

namespace operation_mode
{
namespace device_update_state
{
  enum DeviceUpdateState
  {
    INITIALIZATION,
    OPERATION
  };
}   // namespace device_update_state
}  // namespace operation_mode

namespace generic_updater
{
struct UpdateConfig
{
  int32u what_to_update;
  double when_to_update;
};

template<class CommandType>
class GenericUpdater
{
public:
  GenericUpdater(std::vector<UpdateConfig> update_configs_vector,
                 operation_mode::device_update_state::DeviceUpdateState update_state);

  virtual ~GenericUpdater()
  {
  }

  virtual operation_mode::device_update_state::DeviceUpdateState build_command(CommandType *command) = 0;

  void timer_callback(const ros::TimerEvent &event, int32u data_type);

  operation_mode::device_update_state::DeviceUpdateState update_state;
  // Contains all the initialization data types.
  std::vector<UpdateConfig> initialization_configs_vector;

  std::vector<UpdateConfig> important_update_configs_vector;

protected:
  ros::NodeHandle nh_tilde;

  int which_data_to_request;

  // All the timers for the unimportant data types.
  std::vector<ros::Timer> timers;
  // A queue containing the unimportant data types we want to ask for next time (empty most of the time).
  std::queue<int32u, std::list<int32u> > unimportant_data_queue;
  // Contains the vector with the update configs for every command. We store it to be able to reinitialize.
  std::vector<UpdateConfig> update_configs_vector;

  boost::shared_ptr<boost::mutex> mutex;
};
}  // namespace generic_updater


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

#endif /* GENERIC_UPDATER_HPP_ */