cod_decod_manager.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
 * 
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3.0 of the License, or (at your option) any later version.
 * 
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library.
 */

#ifndef _COD_DECOD_MANAGER_HPP_
#define _COD_DECOD_MANAGER_HPP_

#include <boost/smart_ptr.hpp>
#include <ros_ethercat_model/robot_state.hpp>
#include <ros_ethercat_hardware/ethercat_hardware.h>
#include "sr_ronex_drivers/cod_decod/cod_decod.hpp"
#include <pluginlib/class_loader.h>

namespace sr_cod_decod
{
class CodDecodManager
{
public:
  CodDecodManager(hardware_interface::HardwareInterface *hw, EtherCAT_SlaveHandler *sh, int n_digital_outputs,
  int n_analog_outputs, int n_digital_inputs, int n_analog_inputs, int n_PWM_outputs);

  void update(unsigned char *status_buffer);
  void build_command(unsigned char *command_buffer);

private:
  boost::shared_ptr<CodDecod> cod_decod_;

  ros::NodeHandle node_;
  pluginlib::ClassLoader<CodDecod> cod_decod_loader_;
};
}  // namespace sr_cod_decod

#endif