00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _teo_battery_monitor_driver_node_h_ 00026 #define _teo_battery_monitor_driver_node_h_ 00027 00028 #include <iri_base_driver/iri_base_driver_node.h> 00029 #include "teo_battery_monitor_driver.h" 00030 00031 // [publisher subscriber headers] 00032 #include <iri_segway_rmp_msgs/SegwayRMP400Status.h> 00033 #include <iri_common_drivers_msgs/lifebatt_status.h> 00034 00035 // [service client headers] 00036 00037 // [action server client headers] 00038 00056 class TeoBatteryMonitorDriverNode : public iri_base_driver::IriBaseNodeDriver<TeoBatteryMonitorDriver> 00057 { 00058 private: 00059 // [publisher attributes] 00060 ros::Publisher battery_status_publisher_; 00061 iri_common_drivers_msgs::lifebatt_status battery_status_msg_; 00062 00063 // [subscriber attributes] 00064 ros::Subscriber segway_status_subscriber_; 00065 void segway_status_callback(const iri_segway_rmp_msgs::SegwayRMP400Status::ConstPtr& msg); 00066 CMutex segway_status_mutex_; 00067 00068 float ui_0_; 00069 float ui_1_; 00070 float powerbase_0_; 00071 float powerbase_1_; 00072 00073 // [service attributes] 00074 00075 // [client attributes] 00076 00077 // [action server attributes] 00078 00079 // [action client attributes] 00080 00088 void postNodeOpenHook(void); 00089 00090 public: 00108 TeoBatteryMonitorDriverNode(ros::NodeHandle& nh); 00109 00116 ~TeoBatteryMonitorDriverNode(void); 00117 00118 protected: 00131 void mainNodeThread(void); 00132 00133 // [diagnostic functions] 00134 00145 void addNodeDiagnostics(void); 00146 00147 // [driver test functions] 00148 00158 void addNodeOpenedTests(void); 00159 00169 void addNodeStoppedTests(void); 00170 00180 void addNodeRunningTests(void); 00181 00189 void reconfigureNodeHook(int level); 00190 00191 }; 00192 00193 #endif