etherCAT_compatibility_hand_node.cpp

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#include <ros/ros.h>

#include <boost/thread/thread.hpp>
#include <boost/smart_ptr.hpp>

#include "sr_hand/sr_subscriber.h"
#include "sr_hand/sr_publisher.h"
#include "sr_hand/sr_diagnosticer.h"
#include "sr_hand/hand/etherCAT_compatibility_hand.hpp"

using ros::NodeHandle;
using ros::ok;
using shadowrobot::SRDiagnosticer;
using shadowrobot::SRPublisher;
using shadowrobot::EtherCATCompatibilityHand;
using shadowrobot::SRSubscriber;
using shadowrobot::sr_hand_hardware;

//           MAIN              //

void run_diagnotics(boost::shared_ptr<SRDiagnosticer> shadowhand_diag)
{
  while (ok())
  {
    shadowhand_diag->publish();
  }
}

void run_publisher(boost::shared_ptr<SRPublisher> shadowhand_pub)
{
  while (ok())
  {
    shadowhand_pub->publish();
  }
}


int main(int argc, char **argv)
{
  ros::init(argc, argv, "shadowhand");
  NodeHandle n;

  boost::shared_ptr<EtherCATCompatibilityHand> eth_sh(new EtherCATCompatibilityHand());
  boost::shared_ptr<SRSubscriber> shadowhand_subscriber(new SRSubscriber(eth_sh));


  boost::shared_ptr<SRPublisher> shadowhand_pub(new SRPublisher(eth_sh));
  boost::shared_ptr<SRDiagnosticer> shadowhand_diag(new SRDiagnosticer(eth_sh, sr_hand_hardware));

  boost::thread thrd1(boost::bind(&run_diagnotics, shadowhand_diag));
  boost::thread thrd2(boost::bind(&run_publisher, shadowhand_pub));
  thrd1.join();
  thrd2.join();

  return 0;
}