io_state_relay_handler.h

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#ifndef FSROBO_R_DRIVER_IO_STATE_RELAY_HANDLER_H
#define FSROBO_R_DRIVER_IO_STATE_RELAY_HANDLER_H

#include "ros/ros.h"
#include "simple_message/message_handler.h"
#include "fsrobo_r_msgs/IOStates.h"
#include "fsrobo_r_driver/simple_message/messages/io_state_message.h"


namespace fsrobo_r_driver
{
namespace io_state_relay_handler
{

class IOStateRelayHandler : public industrial::message_handler::MessageHandler
{
  // since this class defines a different init(), this helps find the base-class init()
  using industrial::message_handler::MessageHandler::init;

public:

  IOStateRelayHandler() {};


  bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection);

protected:

  ros::Publisher pub_io_states_;
  ros::NodeHandle node_;

  bool internalCB(fsrobo_r_driver::simple_message::io_state_message::IOStateMessage &in);

private:
 bool internalCB(industrial::simple_message::SimpleMessage& in);
 void createDigitalMessage(int data, int n, int base_addr, fsrobo_r_msgs::Digital &d);
 void createAnalogMessage(int data, int n, int base_ch, fsrobo_r_msgs::Analog &a);
};

}
}


#endif // FSROBO_R_DRIVER_IO_STATE_RELAY_HANDLER_H