motor_controller_node.h

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#ifndef __MCDC3006S_NODE_H__
#define __MCDC3006S_NODE_H__

#include <iostream>
#include <ros/ros.h>
#include "motor_controller_data.h"

// mcdc3006s driver
#include "mcdc3006s.h"

// messages and services
#include <motor_controller_msgs/Data.h>
#include <motor_controller_msgs/Odometry.h>
#include <motor_controller_msgs/Configuration.h>
#include <motor_controller_msgs/MoveAbsPos.h>

class MotorControllerNode {
    public:
        MotorControllerNode(MotorDriverInterface *driver);

        ~MotorControllerNode();

        void init();

        void spin();

        // publishers

        void publish();

        // services

        bool set_max_pos(motor_controller_msgs::Configuration::Request & req,
                         motor_controller_msgs::Configuration::Response & resp);

        bool set_min_pos(motor_controller_msgs::Configuration::Request & req,
                         motor_controller_msgs::Configuration::Response & resp);

        bool set_max_vel(motor_controller_msgs::Configuration::Request & req,
                         motor_controller_msgs::Configuration::Response & resp);

        bool set_max_acc(motor_controller_msgs::Configuration::Request & req,
                         motor_controller_msgs::Configuration::Response & resp);

        bool set_max_dec(motor_controller_msgs::Configuration::Request & req,
                         motor_controller_msgs::Configuration::Response & resp);

        bool set_cur_lim(motor_controller_msgs::Configuration::Request & req,
                         motor_controller_msgs::Configuration::Response & resp);

        bool set_odometry_calibration(motor_controller_msgs::Configuration::Request & req,
                                      motor_controller_msgs::Configuration::Response & resp);

        bool move_abs_pos(motor_controller_msgs::MoveAbsPos::Request & req,
                          motor_controller_msgs::MoveAbsPos::Response & resp);

        bool move_rel_pos(motor_controller_msgs::MoveAbsPos::Request & req,
                          motor_controller_msgs::MoveAbsPos::Response & resp);

        bool move_vel(motor_controller_msgs::MoveAbsPos::Request & req,
                      motor_controller_msgs::MoveAbsPos::Response & resp);

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

        // publishers
        ros::Publisher _data_msg;
        ros::Publisher _odo_msg;

        // services
        ros::ServiceServer _max_pos_srv;
        ros::ServiceServer _min_pos_srv;
        ros::ServiceServer _max_vel_srv;
        ros::ServiceServer _max_acc_srv;
        ros::ServiceServer _max_dec_srv;
        ros::ServiceServer _cur_lim_srv;
        ros::ServiceServer _odo_srv;
        ros::ServiceServer _mov_abs_pos_srv;
        ros::ServiceServer _mov_rel_pos_srv;
        ros::ServiceServer _mov_vel_srv;

        // spin rate
        ros::Rate _publish_rate;

        // ros params
        int _joint_id;
        std::string _serial_device, _joint_name;

        int _pos_factor, _vel_factor;

        MotorDriverInterface *_driver;
};

#endif