ati_force_sensor_driver_node.cpp

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#include "ati_force_sensor_driver_node.h"

AtiForceSensorDriverNode::AtiForceSensorDriverNode(ros::NodeHandle &nh) : 
  iri_base_driver::IriBaseNodeDriver<AtiForceSensorDriver>(nh)
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  this->netft_data_publisher_ = this->public_node_handle_.advertise<geometry_msgs::WrenchStamped>("netft_data", 100);
  
  // [init subscribers]
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]

    event_server_ = CEventServer::instance();
    events_.push_back(driver_.getNewSampleEventId());  
}

void AtiForceSensorDriverNode::mainNodeThread(void)
{
  //lock access to driver if necessary


  // [fill msg Header if necessary]
  //<publisher_name>.header.stamp = ros::Time::now();
  //<publisher_name>.header.frame_id = "<publisher_topic_name>";

  // [fill msg structures]
  //this->WrenchStamped_msg_.data = my_var;
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
  int event_id = event_server_->wait_first(events_);
  switch(event_id)
  {
    //New Sample Event
    case 0: 
      ROS_DEBUG("New Sample Scan!");
      this->driver_.lock();
      WrenchStamped_msg_ = driver_.getData();
      this->driver_.unlock();

      this->netft_data_publisher_.publish(this->WrenchStamped_msg_);
    break;
    default:
      ROS_ERROR("ATI event not handled!");
  }
  //unlock access to driver if previously blocked
}

/*  [subscriber callbacks] */

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void AtiForceSensorDriverNode::postNodeOpenHook(void)
{
}

void AtiForceSensorDriverNode::addNodeDiagnostics(void)
{
}

void AtiForceSensorDriverNode::addNodeOpenedTests(void)
{
}

void AtiForceSensorDriverNode::addNodeStoppedTests(void)
{
}

void AtiForceSensorDriverNode::addNodeRunningTests(void)
{
}

void AtiForceSensorDriverNode::reconfigureNodeHook(int level)
{
}

AtiForceSensorDriverNode::~AtiForceSensorDriverNode(void)
{
  // [free dynamic memory]
}

/* main function */
int main(int argc,char *argv[])
{
  return driver_base::main<AtiForceSensorDriverNode>(argc, argv, "ati_force_sensor_driver_node");
}