gpio_analog.h

Go to the documentation of this file.

#ifndef GPIOANALOGCONFIGURATOR_H
#define GPIOANALOGCONFIGURATOR_H

#include <ros/ros.h>

#include <roboteq_control/RoboteqAnalogInputConfig.h>
#include <dynamic_reconfigure/server.h>

#include "roboteq/serial_controller.h"
#include "configurator/gpio_sensor.h"
#include "roboteq/motor.h"

class GPIOAnalogConfigurator : GPIOSensor
{
public:
    GPIOAnalogConfigurator(const ros::NodeHandle& nh, roboteq::serial_controller *serial, std::vector<roboteq::Motor *> motor, string name, unsigned int number);
    void initConfigurator(bool load_from_board);
    double getConversion(double reduction)
    {
        return 0;
    }

private:
    bool setup_param;

    string mName;
    unsigned int mNumber;
    ros::NodeHandle nh_;
    roboteq::serial_controller* mSerial;
    // List of all motors
    std::vector<roboteq::Motor *> _motor;

    dynamic_reconfigure::Server<roboteq_control::RoboteqAnalogInputConfig> *ds_param;
    void reconfigureCBParam(roboteq_control::RoboteqAnalogInputConfig &config, uint32_t level);

    // Default parameter config
    roboteq_control::RoboteqAnalogInputConfig default_param_config, _last_param_config;

    void getParamFromRoboteq();
};

#endif // GPIOANALOGCONFIGURATOR_H