motor_param.h

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#ifndef GPIOPARAMCONFIGURATOR_H
#define GPIOPARAMCONFIGURATOR_H

#include <ros/ros.h>

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

#include "roboteq/serial_controller.h"

class MotorParamConfigurator
{
public:
    MotorParamConfigurator(const ros::NodeHandle& nh, roboteq::serial_controller *serial, std::string name, unsigned int number);
    void initConfigurator(bool load_from_board);

    int getOperativeMode();
    void setOperativeMode(int type);

private:
    bool setup_param, setup_pid_type;

    string mName;
    unsigned int mNumber;
    ros::NodeHandle nh_;
    roboteq::serial_controller* mSerial;

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

    dynamic_reconfigure::Server<roboteq_control::RoboteqPIDtypeConfig> *ds_pid_type;
    void reconfigureCBPIDtype(roboteq_control::RoboteqPIDtypeConfig &config, uint32_t level);

    // Default parameter config
    roboteq_control::RoboteqParameterConfig default_param_config, _last_param_config;
    roboteq_control::RoboteqPIDtypeConfig default_pid_type_config, _last_pid_type_config;

    void getParamFromRoboteq();

};

#endif // GPIOPARAMCONFIGURATOR_H