motor_data_checker.hpp

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#ifndef MOTOR_DATA_CHECKER_HPP_
#define MOTOR_DATA_CHECKER_HPP_

#include <ros/ros.h>
#include <vector>
#include <boost/array.hpp>
#include <boost/smart_ptr.hpp>
#include <boost/ptr_container/ptr_vector.hpp>
#include "sr_robot_lib/sr_joint_motor.hpp"
#include "sr_robot_lib/generic_updater.hpp"

extern "C"
{
#include <sr_external_dependencies/external/0220_palm_edc/0220_palm_edc_ethercat_protocol.h>
}

namespace generic_updater
{

  class MessageFromMotorChecker
  {
  public:
    MessageFromMotorChecker(int id)
        : motor_id_(id), received_(false)
    {}

    virtual ~MessageFromMotorChecker()
    {}

    int motor_id_;
    virtual void set_received();
    bool get_received();

  protected:
    bool received_;
  };

  class SlowMessageFromMotorChecker : public MessageFromMotorChecker
  {
  public:
    SlowMessageFromMotorChecker(int id);
    virtual ~SlowMessageFromMotorChecker()
    {}

    boost::array<bool, MOTOR_SLOW_DATA_LAST + 1> slow_data_received;

    virtual void set_received(FROM_MOTOR_SLOW_DATA_TYPE slow_data_type);
  };

  class MessageChecker
  {
  public:
    MessageChecker(FROM_MOTOR_DATA_TYPE msg_type)
        : msg_type(msg_type)
    {}

    ~MessageChecker()
    {}

    FROM_MOTOR_DATA_TYPE msg_type;
    std::vector<MessageFromMotorChecker*> msg_from_motor_checkers;

    int find(int motor_id);
  };

  class MotorDataChecker
  {
  public:
    MotorDataChecker(boost::ptr_vector<shadow_joints::Joint> joints_vector,
                     std::vector<UpdateConfig> initialization_configs_vector);
    ~MotorDataChecker();

    bool check_message(boost::ptr_vector<shadow_joints::Joint>::iterator joint_tmp,
                       FROM_MOTOR_DATA_TYPE motor_data_type, int16u motor_slow_data_type);

    void init(boost::ptr_vector<shadow_joints::Joint> joints_vector,
              std::vector<UpdateConfig> initialization_configs_vector);

  protected:
    static const double timeout;
    ros::NodeHandle nh_tilde;
    ros::Timer check_timeout_timer;
    operation_mode::device_update_state::DeviceUpdateState update_state;
    ros::Duration init_max_duration;

    void timer_callback(const ros::TimerEvent& event);
    bool is_everything_checked();
    int find(FROM_MOTOR_DATA_TYPE motor_data_type);

    std::vector<MessageChecker> msg_checkers_;
  };

}

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

#endif /* MOTOR_DATA_CHECKER_HPP_ */