fsrobo_r_robot_service_interface.h

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/*********************************************************************
* FSRobo-R Package BSDL
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* may be used to endorse or promote products derived from this software without
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#ifndef FSROBO_R_DRIVER_ROBOT_SERVICE_INTERFACE_H
#define FSROBO_R_DRIVER_ROBOT_SERVICE_INTERFACE_H

#include <map>
#include <vector>
#include <string>

#include "ros/ros.h"
#include "simple_message/smpl_msg_connection.h"
#include "simple_message/socket/tcp_client.h"
#include "fsrobo_r_msgs/SetIO.h"
#include "fsrobo_r_driver/io_control.h"
#include "fsrobo_r_msgs/SetPosture.h"
#include "fsrobo_r_msgs/GetPosture.h"
#include "fsrobo_r_driver/robot_configurator.h"
#include "fsrobo_r_msgs/SetToolOffset.h"

namespace fsrobo_r_driver
{
namespace robot_service_interface
{
using fsrobo_r_driver::io_control::IOControl;
using fsrobo_r_driver::robot_configurator::RobotConfigurator;
using industrial::smpl_msg_connection::SmplMsgConnection;
using industrial::tcp_client::TcpClient;
namespace StandardSocketPorts = industrial::simple_socket::StandardSocketPorts;

class FSRoboRRobotServiceInterface
{

public:
  FSRoboRRobotServiceInterface();
  ~FSRoboRRobotServiceInterface();

  virtual bool init(std::string default_ip = "", int default_port = StandardSocketPorts::IO);

  virtual bool init(SmplMsgConnection *connection);


  virtual void run() { ros::spin(); }

protected:
  ros::ServiceServer srv_set_io_; // handle for set_io service
  ros::ServiceServer srv_set_posture;
  ros::ServiceServer srv_get_posture;
  ros::ServiceServer srv_set_tool_offset;

  IOControl io_ctrl_;
  RobotConfigurator robot_configurator_;

  bool setIOCB(fsrobo_r_msgs::SetIO::Request &req, fsrobo_r_msgs::SetIO::Response &res);

  bool setPostureCB(fsrobo_r_msgs::SetPosture::Request &req, fsrobo_r_msgs::SetPosture::Response &res);

  bool getPostureCB(fsrobo_r_msgs::GetPosture::Request &req, fsrobo_r_msgs::GetPosture::Response &res);

  bool setToolOffsetCB(fsrobo_r_msgs::SetToolOffset::Request &req, fsrobo_r_msgs::SetToolOffset::Response &res);

  TcpClient default_tcp_connection_;

  ros::NodeHandle node_;
  SmplMsgConnection *connection_;
};

} // namespace robot_service_interface
} // namespace fsrobo_r_driver

#endif /* FSROBO_R_DRIVER_ROBOT_SERVICE_INTERFACE_H */