zyonz_chlorophyll_meter_driver.h

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// 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 _zyonz_chlorophyll_meter_driver_h_
#define _zyonz_chlorophyll_meter_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <zyonz_chlorophyll_meter/ZyonzChlorophyllMeterConfig.h>

//include zyonz_chlorophyll_meter_driver main library
#include <iridrivers/dynamixel_motor.h>
#include <iridrivers/dynamixel_motor_exceptions.h>

class ZyonzChlorophyllMeterDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    boost::shared_ptr<CDynamixelMotor> motor_;
    int baudrate_;
    int bus_id_;
    unsigned char servo_id_;
    double max_angle_;
    double min_angle_;
    double effort_;

  public:
    typedef zyonz_chlorophyll_meter::ZyonzChlorophyllMeterConfig Config;

    Config config_;

    ZyonzChlorophyllMeterDriver(void);

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

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

    // here define all zyonz_chlorophyll_meter_driver interface methods to retrieve and set
    // the driver parameters
    bool open_meter(void);

    bool close_meter(void);

    void stop_meter(void);

    float get_current_effort(void);

    float get_max_effort(void);

    float get_current_angle(void);

    float get_max_angle();

    float get_min_angle();

    bool is_at_max_angle();

    bool is_at_min_angle();

    void set_baudrate(int baudrate);

    void set_bus_id(int bus_id);

    void set_servo_id(unsigned char servo_id);

    void set_max_angle(double max_angle);

    void set_min_angle(double min_angle);

    void set_effort(double effort);

    ~ZyonzChlorophyllMeterDriver(void);

  private:
    bool move_gripper(const double position_in_radians);
};

#endif