bhand_driver.h

Go to the documentation of this file.

// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _bhand_driver_h_
#define _bhand_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_bhand/BhandConfig.h>

//include bhand_driver main library
#include "BarrettHand.h"

class BhandDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    std::string bhserver_ip;
    int server_port;
    int state_refresh_rate;
    BarrettHand *bhand;
    
  public:
    typedef iri_bhand::BhandConfig Config;

    Config config_;

    BhandDriver();

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(const Config& new_cfg, uint32_t level=0);

    // here define all bhand_driver interface methods to retrieve and set
    // the driver parameters

    ~BhandDriver();
    
    int rawCommand(std::string data);
};

#endif