DynamicParameterClass.h

Go to the documentation of this file.

//
// © Copyright 2022 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2022 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// This file is part of the Schunk SVH Driver.
//
// The Schunk SVH Driver 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, either version 3 of the License, or (at your
// option) any later version.
//
// The Schunk SVH Driver 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
// the Schunk SVH Driver. If not, see <https://www.gnu.org/licenses/>.
//
 
//----------------------------------------------------------------------
//----------------------------------------------------------------------
 
#ifndef SCHUNK_SVH_DRIVER_DYNAMIC_PARAMETER_CLASS_H_INCLUDED
#define SCHUNK_SVH_DRIVER_DYNAMIC_PARAMETER_CLASS_H_INCLUDED
 
#include <XmlRpcException.h>
#include <iostream>
#include <ros/ros.h>
 
#include <schunk_svh_library/control/SVHCurrentSettings.h>
#include <schunk_svh_library/control/SVHFingerManager.h>
#include <schunk_svh_library/control/SVHPositionSettings.h>
 
class DynamicParameter
{
public:
  DynamicParameter(const uint16_t major_version,
                   const uint16_t minor_version,
                   XmlRpc::XmlRpcValue& parameters);
 
 
  struct Settings
  {
    Settings()
      : position_settings(driver_svh::SVH_DIMENSION)
      , position_settings_given(driver_svh::SVH_DIMENSION, false)
      , current_settings(driver_svh::SVH_DIMENSION)
      , current_settings_given(driver_svh::SVH_DIMENSION, false)
      , home_settings(driver_svh::SVH_DIMENSION)
      , home_settings_given(driver_svh::SVH_DIMENSION, false)
      , major_version(0)
      , minor_version(0)
    {
    }
 
    std::vector<std::vector<float> > position_settings;
    std::vector<bool> position_settings_given;
 
    std::vector<std::vector<float> > current_settings;
    std::vector<bool> current_settings_given;
 
    std::vector<std::vector<float> > home_settings;
    std::vector<bool> home_settings_given;
 
    uint16_t major_version;
    uint16_t minor_version;
  };
 
  const Settings& getSettings() const { return m_settings; }
 
private:
  void parse_parameters(const uint16_t major_version,
                        const uint16_t minor_version,
                        XmlRpc::XmlRpcValue& parameters);
 
 
  bool xml_rpc_value_to_vector(XmlRpc::XmlRpcValue my_array, std::vector<float>& my_vector);
 
  Settings m_settings;
 
  std::map<driver_svh::SVHChannel, std::string> m_name_to_enum;
};
 
#endif // #ifdef SCHUNK_SVH_DRIVER_DYNAMIC_PARAMETER_CLASS_H_INCLUDED