00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef NETFT_ETHERCAT_HARDWARE__NETFT_H 00036 #define NETFT_ETHERCAT_HARDWARE__NETFT_H 00037 00038 #include "netft_rdt_driver/netft_rdt_driver.h" 00039 #include "ethercat_hardware/ethercat_device.h" 00040 #include "realtime_tools/realtime_publisher.h" 00041 #include "geometry_msgs/WrenchStamped.h" 00042 00043 namespace netft_ethercat_hardware 00044 { 00045 00046 00065 class NetFT : public EthercatDevice 00066 { 00067 public: 00068 NetFT(); 00069 ~NetFT(); 00070 void construct(ros::NodeHandle &nh); 00071 int initialize(pr2_hardware_interface::HardwareInterface *, bool); 00072 //void packCommand(unsigned char *buffer, bool halt, bool reset); 00073 bool unpackState(unsigned char *this_buffer, unsigned char *prev_buffer); 00074 void diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *); 00075 void collectDiagnostics(EthercatCom *com); 00076 00077 protected: 00078 pr2_hardware_interface::HardwareInterface *hw_; 00079 00081 ros::NodeHandle nh_; 00082 00084 netft_rdt_driver::NetFTRDTDriver *netft_driver_; 00085 00087 pr2_hardware_interface::AnalogIn analog_in_; 00088 00090 realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> *pub_; 00091 realtime_tools::RealtimePublisher<geometry_msgs::Wrench> *pub_old_; 00092 00094 ros::Time last_publish_time_; 00095 ros::Duration publish_period_; 00096 bool should_publish_; 00097 00098 00099 bool tryPublish(const geometry_msgs::WrenchStamped &data); 00100 bool tryPublishOld(const geometry_msgs::WrenchStamped &data); 00101 00102 // Double buffer for sharing data between UDP receive thread, and update function (realtime thread) 00103 //ThreadSafeDoubleBuffer<NetFTAnalog> double_buffer_; 00104 }; 00105 00106 00107 }; //end namespace 00108 00109 #endif // NETFT_ETHERCAT_HARDWARE__NETFT_H