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 _zyonz_chlorophyll_meter_driver_node_h_ 00026 #define _zyonz_chlorophyll_meter_driver_node_h_ 00027 00028 #include <iri_base_driver/iri_base_driver_node.h> 00029 #include "zyonz_chlorophyll_meter_driver.h" 00030 00031 // [publisher subscriber headers] 00032 00033 // [service client headers] 00034 00035 // [action server client headers] 00036 #include <iri_action_server/iri_action_server.h> 00037 #include <zyonz_msgs/chlorophyll_sampleAction.h> 00038 00056 class ZyonzChlorophyllMeterDriverNode : public iri_base_driver::IriBaseNodeDriver<ZyonzChlorophyllMeterDriver> 00057 { 00058 private: 00059 bool last_action_successful_; 00060 00061 // [publisher attributes] 00062 00063 // [subscriber attributes] 00064 00065 // [service attributes] 00066 00067 // [client attributes] 00068 00069 // [action server attributes] 00070 IriActionServer<zyonz_msgs::chlorophyll_sampleAction> take_sample_aserver_; 00071 void take_sampleStartCallback(const zyonz_msgs::chlorophyll_sampleGoalConstPtr& goal); 00072 void take_sampleStopCallback(void); 00073 bool take_sampleIsFinishedCallback(void); 00074 bool take_sampleHasSucceedCallback(void); 00075 void take_sampleGetResultCallback(zyonz_msgs::chlorophyll_sampleResultPtr& result); 00076 void take_sampleGetFeedbackCallback(zyonz_msgs::chlorophyll_sampleFeedbackPtr& feedback); 00077 int max_torque_it; 00078 00079 // [action client attributes] 00080 00088 void postNodeOpenHook(void); 00089 00090 public: 00108 ZyonzChlorophyllMeterDriverNode(ros::NodeHandle& nh); 00109 00116 ~ZyonzChlorophyllMeterDriverNode(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