00001 00029 #ifndef _MUSCLE_UPDATER_HPP_ 00030 #define _MUSCLE_UPDATER_HPP_ 00031 00032 #include <ros/ros.h> 00033 #include <vector> 00034 #include <list> 00035 #include <queue> 00036 #include <boost/thread.hpp> 00037 #include <boost/smart_ptr.hpp> 00038 #include "sr_robot_lib/generic_updater.hpp" 00039 00040 #include <sr_external_dependencies/types_for_external.h> 00041 extern "C" 00042 { 00043 #include <sr_external_dependencies/external/0320_palm_edc_muscle/0320_palm_edc_ethercat_protocol.h> 00044 } 00045 00046 namespace generic_updater 00047 { 00058 template <class CommandType> 00059 class MuscleUpdater : 00060 public GenericUpdater<CommandType> 00061 { 00062 public: 00063 MuscleUpdater(std::vector<UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state); 00064 ~MuscleUpdater(); 00065 00073 operation_mode::device_update_state::DeviceUpdateState build_init_command(CommandType* command); 00074 00083 operation_mode::device_update_state::DeviceUpdateState build_command(CommandType* command); 00084 }; 00085 } 00086 00087 00088 /* For the emacs weenies in the crowd. 00089 Local Variables: 00090 c-basic-offset: 2 00091 End: 00092 */ 00093 00094 #endif