labjack_node.h

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#ifndef __LABJACK_NODE_H__
#define __LABJACK_NODE_H__

#include "ljacklm_wrapper.h"
#include "labjack_data.h"

// messages and services
#include <basic_states_skill_msgs/States.h>
#include <basic_states_skill_msgs/GetLabjackState.h>
#include <basic_states_skill_msgs/SetLabjackState.h>
#include <batteries_skill_msgs/LabjackBatteryInfo.h>
#include <batteries_skill_msgs/LabjackPlugInfo.h>
#include <touch_skill_msgs/LabjackTouchInfo.h>

class LabjackNode {
    public:
        LabjackNode(LabjackDriverInterface *ljdriver);

        ~LabjackNode();

        void init();

        void spin();

        // publishers

        void publish_touch();

        void publish_battery();

        void publish_state();

        // services

        bool getTouchSensors(touch_skill_msgs::LabjackTouchInfo::Request & req,
                             touch_skill_msgs::LabjackTouchInfo::Response & resp);

        bool getPower(batteries_skill_msgs::LabjackBatteryInfo::Request & req,
                      batteries_skill_msgs::LabjackBatteryInfo::Response & resp);

        bool getIsPlugged(batteries_skill_msgs::LabjackPlugInfo::Request & req,
                          batteries_skill_msgs::LabjackPlugInfo::Response & resp);

        bool getStates(basic_states_skill_msgs::GetLabjackState::Request & req,
                       basic_states_skill_msgs::GetLabjackState::Response & resp);

        bool setStates(basic_states_skill_msgs::SetLabjackState::Request & req,
                       basic_states_skill_msgs::SetLabjackState::Response & resp);

        // methods

        t_ljdata getAll();

        // low level methods

        float getStateDs();

        int setStateDs(long stateD);

        int getStateD(long stateD);

        int setStateD(long stateD);

        int clearStateD(long stateD);

        long getDsDirection();

        float getStateIOs();

        int setStateIOs(long stateIO);

        int getStateIO(long stateIO);

        int setStateIO(long stateIO);

        int clearStateIO(long stateIO);

        float8 getAIs();

        float getAI(long channel);

        int setAOs(float2 voltageAO);

        int setPulseD(t_pulseData data);

        int setPulseIO(t_pulseData data);

        // states methods

        int getState();

        int setState(int state);

        int enableBase(bool enable);

        int enableBody(bool enable);

        int setWatchdog();

        int clearWatchdog();

        int isEmergency();

        int setEmergency();

        // sensors methods

        float getVoltage();

        bool isPlugged();

        touch getTouch();

    private:
        // nodes
        ros::NodeHandle _nh;
        ros::NodeHandle _nh_private;

        // services
        ros::ServiceServer _touch_srv;
        ros::ServiceServer _get_voltage_srv;
        ros::ServiceServer _get_is_plugged_srv;
        ros::ServiceServer _get_state_srv;
        ros::ServiceServer _set_state_srv;

        // spin rate
        ros::Rate _publish_rate;

        t_ljdata _labjack_data;
        LabjackDriverInterface *_ljdriver;
};

#endif