system_info.h

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/*
 * Copyright (c) 2019 Pilz GmbH & Co. KG
 *
 * This program 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 of the License, or
 * (at your option) any later version.
 
 * This program 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 program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#ifndef PRBT_SUPPORT_SYSTEM_INFO_H
#define PRBT_SUPPORT_SYSTEM_INFO_H
 
#include <ros/ros.h>
 
#include <string>
#include <vector>
#include <map>
 
#include <canopen_chain_node/GetObject.h>
 
namespace prbt_support
{
using FirmwareCont = std::map<std::string, std::string>;
 
class SystemInfo
{
public:
  SystemInfo(ros::NodeHandle& nh);
 
  FirmwareCont getFirmwareVersions();
 
  std::string getFirmwareVersionOfJoint(const std::string& joint_name);
 
private:
  static std::vector<std::string> getNodeNames(const ros::NodeHandle& nh);
 
private:
  const std::vector<std::string> joint_names_;
  ros::ServiceClient canopen_srv_get_client_;
};
 
}  // namespace prbt_support
#endif  // PRBT_SUPPORT_SYSTEM_INFO_H