UBI0.hpp

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#ifndef _UBI0_HPP_
#define _UBI0_HPP_

#include <vector>
#include <sr_robot_msgs/UBI0All.h>
#include <sr_robot_msgs/UBI0.h>
#include <sr_robot_msgs/AuxSpiData.h>
#include <sr_robot_msgs/MidProxDataAll.h>
#include <sr_robot_msgs/MidProxData.h>
#include <realtime_tools/realtime_publisher.h>

#include "sr_robot_lib/generic_tactiles.hpp"
#include "sr_robot_lib/generic_updater.hpp"

namespace tactiles
{
  template <class StatusType, class CommandType>
  class UBI0 :
    public GenericTactiles<StatusType, CommandType>
  {
  public:
    UBI0(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state);
    UBI0(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state, boost::shared_ptr< std::vector<GenericTactileData> > init_tactiles_vector);
    virtual ~UBI0() {}

    void init(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state);

    virtual void update(StatusType* status_data);

    virtual void publish();

    virtual void add_diagnostics(std::vector<diagnostic_msgs::DiagnosticStatus> &vec,
                                 diagnostic_updater::DiagnosticStatusWrapper &d);


    virtual std::vector<AllTactileData>* get_tactile_data();

  protected:
    boost::shared_ptr< std::vector<UBI0Data> > tactiles_vector;

    boost::shared_ptr< UBI0PalmData > palm_tactiles;

    // Distal tactile sensor real time publisher
    boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::UBI0All> > tactile_publisher;
    // Middle and proximal tactile sensor real time publisher
    boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::MidProxDataAll> > mid_prox_publisher;
    // Auxiliar Spi data (sometimes it is a palm tactile sensor) real time publisher
    boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::AuxSpiData> > aux_spi_publisher;
  };//end class


  // class template specialization.

  template <>
  class UBI0<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND> :
    public GenericTactiles<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND>
  {
  public:
    UBI0(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state)
      : GenericTactiles<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND>(update_configs_vector, update_state)
    {
      ROS_ERROR("This UBI0 tactile object should not have been instantiated for this type of ETHERCAT_DATA_STRUCTURE");
    }
    UBI0(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state, boost::shared_ptr< std::vector<GenericTactileData> > init_tactiles_vector)
      : GenericTactiles<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND>(update_configs_vector, update_state)
    {
      ROS_ERROR("This UBI0 tactile object should not have been instantiated for this type of ETHERCAT_DATA_STRUCTURE");
    }
    ~UBI0() {};
  };//end class

  template <>
  class UBI0<ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND> :
    public GenericTactiles<ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND>
  {
  public:
    UBI0(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state)
      : GenericTactiles<ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND>(update_configs_vector, update_state)
    {
      ROS_ERROR("This UBI0 tactile object should not have been instantiated for this type of ETHERCAT_DATA_STRUCTURE");
    }
    UBI0(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state, boost::shared_ptr< std::vector<GenericTactileData> > init_tactiles_vector)
      : GenericTactiles<ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND>(update_configs_vector, update_state)
    {
      ROS_ERROR("This UBI0 tactile object should not have been instantiated for this type of ETHERCAT_DATA_STRUCTURE");
    }
    ~UBI0() {};
  };//end class
}//end namespace

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/

#endif /* _UBI0_HPP_ */