00001 00028 #ifndef GENERIC_TACTILES_HPP_ 00029 #define GENERIC_TACTILES_HPP_ 00030 00031 #include <boost/smart_ptr.hpp> 00032 #include <sr_external_dependencies/types_for_external.h> 00033 extern "C" 00034 { 00035 #include <sr_external_dependencies/external/0220_palm_edc/0220_palm_edc_ethercat_protocol.h> 00036 #include <sr_external_dependencies/external/0230_palm_edc_TS/0230_palm_edc_ethercat_protocol.h> 00037 #include <sr_external_dependencies/external/0320_palm_edc_muscle/0320_palm_edc_ethercat_protocol.h> 00038 } 00039 00040 #include <ros/ros.h> 00041 #include <vector> 00042 #include <std_srvs/Empty.h> 00043 00044 #include <boost/smart_ptr.hpp> 00045 00046 #include <diagnostic_msgs/DiagnosticStatus.h> 00047 #include <diagnostic_updater/DiagnosticStatusWrapper.h> 00048 00049 #include <sr_hardware_interface/tactile_sensors.hpp> 00050 #include "sr_robot_lib/generic_updater.hpp" 00051 #include "sr_robot_lib/sensor_updater.hpp" 00052 00053 namespace tactiles 00054 { 00055 template <class StatusType, class CommandType> 00056 class GenericTactiles 00057 { 00058 public: 00059 GenericTactiles(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state); 00060 ~GenericTactiles() {}; 00061 00069 virtual void update(StatusType* status_data); 00070 00075 virtual void publish(); 00076 00081 virtual void add_diagnostics(std::vector<diagnostic_msgs::DiagnosticStatus> &vec, 00082 diagnostic_updater::DiagnosticStatusWrapper &d); 00083 00092 bool reset(std_srvs::Empty::Request& request, 00093 std_srvs::Empty::Response& response); 00094 00096 static const unsigned int nb_tactiles; 00097 00098 boost::shared_ptr<generic_updater::SensorUpdater<CommandType> > sensor_updater; 00100 boost::shared_ptr< std::vector<GenericTactileData> > tactiles_vector; 00101 00102 virtual std::vector<AllTactileData>* get_tactile_data(); 00103 00104 protected: 00105 00106 void process_received_data_type(int32u data); 00107 00108 ros::NodeHandle nodehandle_; 00109 00110 ros::ServiceServer reset_service_client_; 00111 00113 std::vector<int32u> initialization_received_data_vector; 00114 00125 std::string sanitise_string( const char* raw_string, const unsigned int str_size ); 00126 00127 boost::shared_ptr<std::vector<AllTactileData> > all_tactile_data; 00128 };//end class 00129 }//end namespace 00130 00131 /* For the emacs weenies in the crowd. 00132 Local Variables: 00133 c-basic-offset: 2 00134 End: 00135 */ 00136 00137 #endif /* GENERIC_TACTILES_HPP_ */