khi_robot_client.h

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#ifndef KHI_ROBOT_CLIENT_H
#define KHI_ROBOT_CLIENT_H
 
#include <ros/ros.h>
#include <stdio.h>
#include <khi_robot_driver.h>
 
namespace khi_robot_control
{
 
class KhiRobotClient
{
public:
    KhiRobotClient(){};
    ~KhiRobotClient(){};
 
    bool open( const std::string& ip, const double& period, KhiRobotData& data, const bool in_simulation = false );
    bool activate( KhiRobotData& data );
    bool hold( const KhiRobotData& data );
    void deactivate( const KhiRobotData& data );
    void close();
 
    void write( const KhiRobotData& data );
    void read( KhiRobotData& data );
 
    int updateState( const KhiRobotData& data );
    int getStateTrigger();
    bool getPeriodDiff( double& diff );
    void startCommandService();
 
private:
    int cont_no;
    KhiRobotDriver *driver;
};
 
} // namespace
 
#endif // KHI_ROBOT_CLIENT_H