io_service.h

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/*
 * Copyright 2017, 2018 Simon Rasmussen (refactor)
 *
 * Copyright 2015, 2016 Thomas Timm Andersen (original version)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#pragma once

#include <ros/ros.h>
#include <ur_msgs/SetIO.h>
#include <ur_msgs/SetIORequest.h>
#include <ur_msgs/SetIOResponse.h>
#include <ur_msgs/SetPayload.h>
#include <ur_msgs/SetPayloadRequest.h>
#include <ur_msgs/SetPayloadResponse.h>
#include "ur_modern_driver/log.h"
#include "ur_modern_driver/ur/commander.h"

class IOService
{
private:
  ros::NodeHandle nh_;
  URCommander& commander_;
  ros::ServiceServer io_service_;
  ros::ServiceServer payload_service_;

  bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& resp)
  {
    LOG_INFO("setIO called with [%d, %d]", req.fun, req.pin);
    bool res = false;
    bool flag = req.state > 0.0 ? true : false;
    switch (req.fun)
    {
      case ur_msgs::SetIO::Request::FUN_SET_DIGITAL_OUT:
        res = commander_.setDigitalOut(req.pin, flag);
        break;
      case ur_msgs::SetIO::Request::FUN_SET_ANALOG_OUT:
        res = commander_.setAnalogOut(req.pin, req.state);
        break;
      case ur_msgs::SetIO::Request::FUN_SET_TOOL_VOLTAGE:
        res = commander_.setToolVoltage(static_cast<uint8_t>(req.state));
        break;
      case ur_msgs::SetIO::Request::FUN_SET_FLAG:
        res = commander_.setFlag(req.pin, flag);
        break;
      default:
        LOG_WARN("Invalid setIO function called (%d)", req.fun);
    }

    return (resp.success = res);
  }

  bool setPayload(ur_msgs::SetPayloadRequest& req, ur_msgs::SetPayloadResponse& resp)
  {
    LOG_INFO("setPayload called");
    // TODO check min and max payload?
    return (resp.success = commander_.setPayload(req.payload));
  }

public:
  IOService(URCommander& commander)
    : commander_(commander)
    , io_service_(nh_.advertiseService("ur_driver/set_io", &IOService::setIO, this))
    , payload_service_(nh_.advertiseService("ur_driver/set_payload", &IOService::setPayload, this))
  {
  }
};