spi_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 _SPI_PASSTHROUGH_CONTROLLER_H_
#define _SPI_PASSTHROUGH_CONTROLLER_H_

#include <ros/node_handle.h>
#include <boost/ptr_container/ptr_vector.hpp>
#include <utility>
#include <vector>

#include "sr_ronex_controllers/spi_base_controller.hpp"
#include <sr_ronex_msgs/SPI.h>

#include <dynamic_reconfigure/server.h>
#include "sr_ronex_drivers/SPIConfig.h"

namespace ronex
{
class SPIPassthroughController
  : public SPIBaseController
{
public:
  virtual bool init(ros_ethercat_model::RobotStateInterface* robot, ros::NodeHandle &n);

  bool command_srv_cb(sr_ronex_msgs::SPI::Request &req,
                       sr_ronex_msgs::SPI::Response &res,
                       size_t spi_out_index);

  void dynamic_reconfigure_cb(sr_ronex_drivers::SPIConfig &config, uint32_t level);

private:
  std::vector<ros::ServiceServer> command_srv_;

  // vector containing one command per spi output.
  // Some parameters of these commands are updated through the dynamic reconfigure interface
  // The data packet is updated from the service.
  std::vector<SplittedSPICommand> standard_commands_;

  boost::scoped_ptr<dynamic_reconfigure::Server<sr_ronex_drivers::SPIConfig> > dynamic_reconfigure_server_;
  dynamic_reconfigure::Server<sr_ronex_drivers::SPIConfig>::CallbackType function_cb_;

  // Instantiating the services / dynamic reconfigure callbacks etc..
  void post_init_();
};
}  // namespace ronex

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

#endif /* _SPI_PASSTHROUGH_CONTROLLER_H_ */