sr_tcat.hpp
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00001 /*
00002  * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
00003  *
00004  * This library is free software; you can redistribute it and/or
00005  * modify it under the terms of the GNU Lesser General Public
00006  * License as published by the Free Software Foundation; either
00007  * version 3.0 of the License, or (at your option) any later version.
00008  *
00009  * This library is distributed in the hope that it will be useful,
00010  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00011  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
00012  * Lesser General Public License for more details.
00013  *
00014  * You should have received a copy of the GNU Lesser General Public
00015  * License along with this library.
00016  */
00023 #ifndef _SR_TCAT_HPP_
00024 #define _SR_TCAT_HPP_
00025 
00026 #include <ros_ethercat_hardware/ethercat_hardware.h>
00027 #include <realtime_tools/realtime_publisher.h>
00028 #include <sr_ronex_msgs/TCATState.h>
00029 
00030 #include <sr_ronex_external_protocol/Ronex_Protocol_0x02000003_TCAT_00.h>
00031 
00032 #include <boost/ptr_container/ptr_vector.hpp>
00033 #include <vector>
00034 #include <string>
00035 
00036 #include <dynamic_reconfigure/server.h>
00037 #include "sr_ronex_drivers/GeneralIOConfig.h"
00038 
00039 
00040 class SrTCAT : public EthercatDevice
00041 {
00042 public:
00043   virtual void construct(EtherCAT_SlaveHandler *sh, int &start_address);
00044   virtual int initialize(hardware_interface::HardwareInterface *hw, bool allow_unprogrammed = true);
00045 
00046   SrTCAT();
00047   virtual ~SrTCAT();
00048 
00049 protected:
00051   static const std::string product_alias_;
00052 
00054   std::string ronex_id_;
00055 
00056   string reason_;
00057   int level_;
00058 
00059   int command_base_;
00060   int status_base_;
00061 
00062   ros::NodeHandle node_;
00063 
00068   int16u previous_sequence_number_;
00069 
00071   std::string device_name_;
00072   std::string serial_number_;
00073 
00075   int device_offset_;
00076 
00077   void packCommand(unsigned char *buffer, bool halt, bool reset);
00078   bool unpackState(unsigned char *this_buffer, unsigned char *prev_buffer);
00079 
00080   void diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *buffer);
00081 
00083   boost::scoped_ptr<realtime_tools::RealtimePublisher<sr_ronex_msgs::TCATState> > state_publisher_;
00085   sr_ronex_msgs::TCATState state_msg_;
00086 
00088   void build_topics_();
00089 
00091   int parameter_id_;
00092 };
00093 
00094 /* For the emacs weenies in the crowd.
00095    Local Variables:
00096    c-basic-offset: 2
00097    End:
00098 */
00099 
00100 #endif /* _SR_TCAT_HPP_ */


sr_ronex_drivers
Author(s): Ugo Cupcic, Toni Oliver, Mark Pitchless
autogenerated on Thu Jun 6 2019 21:22:00