general_io_passthrough_controller.hpp

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/*
 * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
 * 
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3.0 of the License, or (at your option) any later version.
 * 
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library.
 */

#ifndef _GENERAL_IO_PASSTHROUGH_CONTROLLER_H_
#define _GENERAL_IO_PASSTHROUGH_CONTROLLER_H_

#include <ros/node_handle.h>

#include <controller_interface/controller.h>
#include <ros_ethercat_model/robot_state.hpp>
#include <sr_ronex_hardware_interface/mk2_gio_hardware_interface.hpp>
#include <realtime_tools/realtime_publisher.h>
#include <sr_ronex_utilities/sr_ronex_utilities.hpp>

#include <std_msgs/Bool.h>
#include <sr_ronex_msgs/PWM.h>

namespace ronex
{
  class GeneralIOPassthroughController
    : public controller_interface::Controller<ros_ethercat_model::RobotState>
  {
  public:
    GeneralIOPassthroughController();

    virtual bool init(ros_ethercat_model::RobotState* robot, ros::NodeHandle &n);

    virtual void update(const ros::Time&, const ros::Duration&) {}

    void digital_commands_cb(const std_msgs::BoolConstPtr& msg, int index);

    void pwm_commands_cb(const sr_ronex_msgs::PWMConstPtr& msg, int index);

  private:
    ros::NodeHandle node_;

    int loop_count_;

    ronex::GeneralIO* general_io_;

    std::vector<ros::Subscriber> digital_subscribers_;
    std::vector<ros::Subscriber> pwm_subscribers_;
  };
}

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

#endif /* _GENERAL_IO_PASSTHROUGH_CONTROLLER_H_ */