gpio_encoder.h

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#ifndef GPIOENCODERCONFIGURATOR_H
#define GPIOENCODERCONFIGURATOR_H

#include <ros/ros.h>

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

#include "roboteq/serial_controller.h"

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

class GPIOEncoderConfigurator : GPIOSensor
{
public:
    GPIOEncoderConfigurator(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);

private:
    bool setup_encoder;

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

    // reduction value
    double _reduction;

    dynamic_reconfigure::Server<roboteq_control::RoboteqEncoderConfig> *ds_encoder;
    void reconfigureCBEncoder(roboteq_control::RoboteqEncoderConfig &config, uint32_t level);

    roboteq_control::RoboteqEncoderConfig default_encoder_config, _last_encoder_config;

    void getEncoderFromRoboteq();
};

#endif // GPIOENCODERCONFIGURATOR_H