sr_generic_tactile_sensor.hpp

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#ifndef _SR_GENERIC_TACTILE_SENSOR_HPP_
#define _SR_GENERIC_TACTILE_SENSOR_HPP_

#include <ros/ros.h>

#include <boost/smart_ptr.hpp>
#include <std_msgs/Float64.h>
#include <XmlRpcValue.h>
#include <sr_robot_msgs/is_hand_occupied.h>
#include <sr_robot_msgs/which_fingers_are_touching.h>

namespace shadowrobot
{
  class SrGenericTactileSensor
  {
  public:
    SrGenericTactileSensor(std::string name, std::string touch_name);
    ~SrGenericTactileSensor();

    void publish_current_values();

    virtual double get_touch_data() = 0;

  private:
    ros::Publisher touch_pub;
    ros::NodeHandle n_tilde;
    std::string touch_sensor_name;
    std_msgs::Float64 msg_touch;
  };

  class SrTactileSensorManager
  {
  public:
    SrTactileSensorManager();
    ~SrTactileSensorManager();

    void publish_all();

  protected:
    std::vector<boost::shared_ptr<SrGenericTactileSensor> > tactile_sensors;
    ros::NodeHandle n_tilde;
    ros::Rate publish_rate;

    ros::ServiceServer is_hand_occupied_server;
    std::vector<double> is_hand_occupied_thresholds;
    bool is_hand_occupied_cb(sr_robot_msgs::is_hand_occupied::Request  &req,
                             sr_robot_msgs::is_hand_occupied::Response &res );

    ros::ServiceServer which_fingers_are_touching_server;
    bool which_fingers_are_touching_cb(sr_robot_msgs::which_fingers_are_touching::Request  &req,
                                       sr_robot_msgs::which_fingers_are_touching::Response &res );

    std::vector<std::vector<std::string> > get_all_names();
  };
}


/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/

#endif