netft_rdt_driver.h

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#ifndef NETFT_RDT_DRIVER
#define NETFT_RDT_DRIVER

#include <boost/asio.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <boost/thread/condition.hpp>
#include <string>

#include "diagnostic_updater/DiagnosticStatusWrapper.h"
#include "geometry_msgs/WrenchStamped.h"

namespace netft_rdt_driver
{

class NetFTRDTDriver
{
public:
  // Start receiving data from NetFT device
  NetFTRDTDriver(const std::string &address);

  ~NetFTRDTDriver();

  void getData(geometry_msgs::WrenchStamped &data);

  void diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d);

  // Returns true if new data has arrived, false it function times out
  bool waitForNewData(void);

protected:
  void recvThreadFunc(void);

  void startStreaming(void);

  enum {RDT_PORT=49152};
  std::string address_;

  boost::asio::io_service io_service_;
  boost::asio::ip::udp::socket socket_;
  boost::mutex mutex_;
  boost::thread recv_thread_;
  boost::condition condition_;
  volatile bool stop_recv_thread_;
  bool recv_thread_running_;
  std::string recv_thread_error_msg_; 

  geometry_msgs::WrenchStamped new_data_;
  unsigned packet_count_;
  unsigned lost_packets_;
  unsigned out_of_order_count_;
  unsigned seq_counter_;

  double force_scale_;
  double torque_scale_;

  unsigned diag_packet_count_;
  ros::Time last_diag_pub_time_;
  
  uint32_t last_rdt_sequence_;
  uint32_t system_status_;
};


} // end namespace netft_rdt_driver


#endif // NETFT_RDT_DRIVER