motor_trace_buffer.h

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#ifndef SR_EDC_ETHERCAT_DRIVERS_MOTOR_TRACE_BUFFER_H
#define SR_EDC_ETHERCAT_DRIVERS_MOTOR_TRACE_BUFFER_H

#include <sr_edc_ethercat_drivers/MotorTraceSample.h>
#include <sr_edc_ethercat_drivers/ActuatorInfo.h>
#include <sr_edc_ethercat_drivers/MotorTrace.h>

#include <realtime_tools/realtime_publisher.h>
#include <boost/thread/condition.hpp>  // Missing from realtime_publisher : wg-ros-pkg Ticket #4682
#include <boost/utility.hpp>
#include <string>
#include <vector>

namespace sr_edc_ethercat_drivers
{
class MotorTraceBuffer :
        private boost::noncopyable
{
public:
  explicit MotorTraceBuffer(unsigned trace_size);

  bool initialize(const sr_edc_ethercat_drivers::ActuatorInfo &actuator_info);

  void flagPublish(const std::string &reason, int level, int delay);

  void checkPublish();

  void sample(const sr_edc_ethercat_drivers::MotorTraceSample &s);

  void reset();

protected:
  unsigned trace_size_;  // !< size of trace vector
  unsigned trace_index_;  // !< index of most recent element in trace vector
  unsigned published_traces_;  // !< number of times motor trace has been published
  std::vector<sr_edc_ethercat_drivers::MotorTraceSample> trace_buffer_;
  realtime_tools::RealtimePublisher<sr_edc_ethercat_drivers::MotorTrace> *publisher_;
  int publish_delay_;
  int publish_level_;
  std::string publish_reason_;
};
}  // namespace sr_edc_ethercat_drivers

#endif  // SR_EDC_ETHERCAT_DRIVERS_MOTOR_TRACE_BUFFER_H