khi_robot_hardware_interface.h

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#ifndef KHI_ROBOT_HARDWARE_INTERFACE_
#define KHI_ROBOT_HARDWARE_INTERFACE_
 
#include <ros/ros.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>
#include <joint_limits_interface/joint_limits_interface.h>
#include <khi_robot_client.h>
 
namespace khi_robot_control
{
 
class KhiRobotHardwareInterface : public hardware_interface::RobotHW
{
public:
    KhiRobotHardwareInterface();
    ~KhiRobotHardwareInterface();
 
    bool open( const std::string& robot_name, const std::string& ip_address, const double& period, const bool in_simulation = false );
    bool activate();
    bool hold();
    void deactivate();
    void close();
    void read( const ros::Time& time, const ros::Duration& period ) override;
    void write( const ros::Time& time, const ros::Duration& period ) override;
    int updateState();
    int getStateTrigger();
    bool getPeriodDiff( double& diff );
 
private:
    hardware_interface::JointStateInterface joint_state_interface;
    hardware_interface::PositionJointInterface joint_position_interface;
    joint_limits_interface::PositionJointSaturationInterface joint_limit_interface;
 
    khi_robot_control::KhiRobotData data;
    khi_robot_control::KhiRobotClient *client;
};
 
} // namespace
 
#endif // KHI_ROBOT_HARDWARE_INTERFACE_