00001 /* 00002 * Copyright (c) 2013, Shadow Robot Company, All rights reserved. 00003 * 00004 * This library is free software; you can redistribute it and/or 00005 * modify it under the terms of the GNU Lesser General Public 00006 * License as published by the Free Software Foundation; either 00007 * version 3.0 of the License, or (at your option) any later version. 00008 * 00009 * This library is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00012 * Lesser General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU Lesser General Public 00015 * License along with this library. 00016 */ 00017 00025 #ifndef _SPI_PASSTHROUGH_CONTROLLER_H_ 00026 #define _SPI_PASSTHROUGH_CONTROLLER_H_ 00027 00028 #include <ros/node_handle.h> 00029 #include <boost/ptr_container/ptr_vector.hpp> 00030 #include <utility> 00031 00032 #include "sr_ronex_controllers/spi_base_controller.hpp" 00033 #include <sr_ronex_msgs/SPI.h> 00034 00035 #include <dynamic_reconfigure/server.h> 00036 #include "sr_ronex_drivers/SPIConfig.h" 00037 00038 namespace ronex 00039 { 00040 class SPIPassthroughController 00041 : public SPIBaseController 00042 { 00043 public: 00044 virtual bool init(ros_ethercat_model::RobotState* robot, ros::NodeHandle &n); 00045 00046 bool command_srv_cb( sr_ronex_msgs::SPI::Request &req, 00047 sr_ronex_msgs::SPI::Response &res, 00048 size_t spi_out_index ); 00049 00050 void dynamic_reconfigure_cb(sr_ronex_drivers::SPIConfig &config, uint32_t level); 00051 00052 private: 00053 std::vector<ros::ServiceServer> command_srv_; 00054 00055 //vector containing one command per spi output. 00056 // Some parameters of these commands are updated through the dynamic reconfigure interface 00057 // The data packet is updated from the service. 00058 std::vector<SplittedSPICommand> standard_commands_; 00059 00061 boost::scoped_ptr<dynamic_reconfigure::Server<sr_ronex_drivers::SPIConfig> > dynamic_reconfigure_server_; 00062 dynamic_reconfigure::Server<sr_ronex_drivers::SPIConfig>::CallbackType function_cb_; 00063 00064 //Instantiating the services / dynamic reconfigure callbacks etc.. 00065 void post_init_(); 00066 }; 00067 } 00068 00069 /* For the emacs weenies in the crowd. 00070 Local Variables: 00071 c-basic-offset: 2 00072 End: 00073 */ 00074 00075 #endif /* _SPI_PASSTHROUGH_CONTROLLER_H_ */