control_setting.h

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#ifndef DXL_CONTROL_CONTROL_SETTING_H
#define DXL_CONTROL_CONTROL_SETTING_H
 
#include <ros/ros.h>
#include <std_msgs/String.h>
#include <ros/console.h>
#include <string>
#include <sstream>
#include <map>
 
/* Operating Mode value */
#define     OPE_CURRENT_MODE   (0)
#define     OPE_VELOCITY_MODE  (1)
#define     OPE_POSITION_MODE  (3)
#define     OPE_EXT_POS_MODE   (4)
#define     OPE_CURR_POS_MODE  (5)
#define     OPE_PWM_MODE       (16)
 
/* SETTING KEY STRINGS */
#define     KEY_DXL_PORT       ("dynamixel_port")
#define     KEY_PORTNAME       ("/port_name")
#define     KEY_BAUDRATE       ("/baud_rate")
#define     KEY_JOINTS         ("/joints")
#define     KEY_JPARAM_ID      ("/id")
#define     KEY_JPARAM_CENTER  ("/center")
#define     KEY_JPARAM_HOME    ("/home")
#define     KEY_JPARAM_EFFCNST ("/effort_const")
#define     KEY_JPARAM_OPEMODE ("/mode")
 
#define     DEFAULT_CENTER     (2048)
#define     DEFAULT_EFF_CNST   (1.0)
#define     DEFAULT_OPE_MODE   (OPE_POSITION_MODE)
 
 
typedef struct SERVO_PARAM {
    SERVO_PARAM(){
        name = "";
        id = 0;
        center = home = DEFAULT_CENTER;
        eff_cnst = DEFAULT_EFF_CNST;
        mode = DEFAULT_OPE_MODE;
    }
    std::string name;
    uint8_t     id;
    uint16_t    center;
    uint16_t    home;
    double      eff_cnst;
    uint8_t     mode;
} ST_SERVO_PARAM;
 
class CONTROL_SETTING
{
public:
    CONTROL_SETTING( ros::NodeHandle handle );
    ~CONTROL_SETTING();
    bool load( void );
    std::string getPortName( void ){ return port_name; }
    std::string loadPortName( void );
    std::vector<ST_SERVO_PARAM> getServoParam( void ){ return joint_list; }
    uint32_t getjointNum( void ){ return joint_num; }
    uint32_t getBaudrate( void ){ return port_baud_rate; }
    
private:
    ros::NodeHandle node_handle;
    uint8_t port_num;
    std::string port_name;
    uint32_t port_baud_rate;
    uint32_t joint_num;
    std::vector<ST_SERVO_PARAM> joint_list;
    
    bool isPortDefine( void );
    uint32_t loadBaudRate( void );
    bool loadJointList( void );
    bool loadJointParam( void );
};
 
#endif/* DXL_CONTROL_CONTROL_SETTING_H */