sr_generic_tactile_sensor.hpp

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/*
* Copyright 2011 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef _SR_GENERIC_TACTILE_SENSOR_HPP_
#define _SR_GENERIC_TACTILE_SENSOR_HPP_

#include <ros/ros.h>

#include <boost/smart_ptr.hpp>
#include <string>
#include <vector>

#include <std_msgs/Float64.h>
#include <XmlRpcValue.h>
#include <sr_robot_msgs/is_hand_occupied.h>
#include <sr_robot_msgs/which_fingers_are_touching.h>

namespace shadowrobot
{
class SrGenericTactileSensor
{
public:
  SrGenericTactileSensor(std::string name, std::string touch_name);

  virtual ~SrGenericTactileSensor();

  void publish_current_values();

  virtual double get_touch_data() = 0;

private:
  ros::Publisher touch_pub;
  ros::NodeHandle n_tilde;
  std::string touch_sensor_name;
  std_msgs::Float64 msg_touch;
};

class SrTactileSensorManager
{
public:
  SrTactileSensorManager();

  ~SrTactileSensorManager();

  void publish_all();

protected:
  std::vector<boost::shared_ptr<SrGenericTactileSensor> > tactile_sensors;
  ros::NodeHandle n_tilde;
  ros::Rate publish_rate;

  ros::ServiceServer is_hand_occupied_server;
  std::vector<double> is_hand_occupied_thresholds;

  bool is_hand_occupied_cb(sr_robot_msgs::is_hand_occupied::Request &req,
                           sr_robot_msgs::is_hand_occupied::Response &res);

  ros::ServiceServer which_fingers_are_touching_server;

  bool which_fingers_are_touching_cb(sr_robot_msgs::which_fingers_are_touching::Request &req,
                                     sr_robot_msgs::which_fingers_are_touching::Response &res);

  std::vector<std::vector<std::string> > get_all_names();
};
}  // namespace shadowrobot


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

#endif