robotiq_3f_gripper_ethercat_client.h

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// Copyright (c) 2016, Toyota Research Institute. All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:

// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.

// 2. Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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#ifndef ROBOTIQ_3F_GRIPPER_ETHERCAT_CLIENT_H
#define ROBOTIQ_3F_GRIPPER_ETHERCAT_CLIENT_H

#include <robotiq_3f_gripper_control/robotiq_3f_gripper_client_base.h>

// Forward declaration of EtherCatManager
namespace robotiq_ethercat
{
  class EtherCatManager;
}

namespace robotiq_3f_gripper_control
{

class Robotiq3FGripperEtherCatClient : public Robotiq3FGripperClientBase
{
public:
  Robotiq3FGripperEtherCatClient(robotiq_ethercat::EtherCatManager& manager, int slave_no);

  void writeOutputs(const GripperOutput& output);

  GripperInput readInputs() const;

  GripperOutput readOutputs() const;

private:
  robotiq_ethercat::EtherCatManager& manager_;
  const int slave_no_;
};

}

#endif