multi_trigger_controller.h

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#ifndef TRIGGER_CONTROLLER_H
#define TRIGGER_CONTROLLER_H

#include <vector>

#include <ros/node_handle.h>
#include <pr2_controller_interface/controller.h>
#include <pr2_mechanism_model/robot.h>
#include <ethercat_trigger_controllers/SetMultiWaveform.h>
#include <ethercat_trigger_controllers/MultiWaveform.h>
#include <realtime_tools/realtime_publisher.h>
#include <std_msgs/Header.h>
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>

namespace controller
{
class MultiTriggerController : public pr2_controller_interface::Controller
{
typedef ethercat_trigger_controllers::MultiWaveform config_t;
public:
  MultiTriggerController();

  ~MultiTriggerController();

  void update();

  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

private:
  boost::mutex config_mutex_; // Held while config_ is changing.

  bool setMultiWaveformSrv(
      ethercat_trigger_controllers::SetMultiWaveform::Request &req,
      ethercat_trigger_controllers::SetMultiWaveform::Response &resp);

  pr2_mechanism_model::RobotState *robot_;
  pr2_hardware_interface::DigitalOutCommand *digital_out_command_;

  // Information about the next transition
  double transition_time_;
  double transition_period_;
  unsigned int transition_index_;

  ros::ServiceServer set_waveform_handle_;
  ros::NodeHandle node_handle_;
  ros::Publisher waveform_;

  std::vector<boost::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Header> > > pubs_;

  // Configuration of controller.
  config_t config_;
  std::string digital_output_name_;
};

};

#endif