real_shadowhand.h

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#ifndef    SR_HAND_HAND_REAL_SHADOWHAND_H
#define    SR_HAND_HAND_REAL_SHADOWHAND_H

#include "sr_hand/hand/sr_articulated_robot.h"
#include <utility>
#include <string>
#include <vector>

namespace sr_self_tests
{
  static const unsigned int nb_targets_to_send = 100;

  static const unsigned int msgs_frequency_size = 5;
  static const int msgs_frequency[msgs_frequency_size] = {1, 5, 10, 20, 100};

  static const unsigned int joints_to_test_size = 1;
  // t he name of the joint on which we want to run the test.
  static const std::string joints_to_test[joints_to_test_size] = {"FFJ3"};
}  // namespace sr_self_tests

namespace shadowrobot
{
class RealShadowhand :
        public SRArticulatedRobot
{
public:
  RealShadowhand();

  virtual ~RealShadowhand();

  virtual int16_t sendupdate(std::string joint_name, double target);

  virtual JointData getJointData(std::string joint_name);

  virtual JointsMap getAllJointsData();

  virtual int16_t setContrl(std::string contrlr_name, JointControllerData ctrlr_data);

  virtual JointControllerData getContrl(std::string contrlr_name);

  virtual int16_t setConfig(std::vector <std::string> myConfig);

  virtual void getConfig(std::string joint_name);

  virtual std::vector <DiagnosticData> getDiagnostics();

protected:
  /***
   * Initializes the mapping between the joint_names and their data. This function fetches the joint_names from
   * the robot code.
   */
  void initializeMap();

  //    TESTS    //

  void pretest(diagnostic_updater::DiagnosticStatusWrapper &status);

  void posttest(diagnostic_updater::DiagnosticStatusWrapper &status);

  void test_messages(diagnostic_updater::DiagnosticStatusWrapper &status);

  std::pair<unsigned char, std::string> test_messages_routine(std::string joint_name, unsigned int repeat,
                                                              ros::Rate rate);
};  // end class
}  // namespace shadowrobot

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/

#endif  // SR_HAND_HAND_REAL_SHADOWHAND_H