sr_hand_detector.h

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/*
* Copyright 2020 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* 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 General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
 
#ifndef SR_HAND_DETECTOR_SR_HAND_DETECTOR_H
#define SR_HAND_DETECTOR_SR_HAND_DETECTOR_H
 
#include <vector>
#include <map>
#include <string>
#include "soem/ethercattype.h"
#include "soem/ethercatbase.h"
#include "soem/ethercatmain.h"
 
#define MAXBUF 32768
 
namespace sr_hand_detector
{
class SrHandDetector
{
  public:
    SrHandDetector();
    ~SrHandDetector();
    void run();
    std::map<int, std::string> get_hand_serial_to_port();
 
  private:
    void get_available_port_names();
    void detect_hand_ports();
    void get_hands_ports_and_serials();
    int count_slaves_on_port(std::string);
    int get_hand_serial(std::string);
    int read_eeprom(int, int, int);
 
    std::map<int, std::string> hand_serial_to_port_map_;
    std::vector<std::string> available_port_names_;
    uint8 ebuf_[MAXBUF];
    const int SLAVE_WITH_HAND_SERIAL_ = 2;
    const int NUM_OF_SLAVES_EXPECTED_FOR_HAND_ = 2;
};
}  // namespace sr_hand_detector
 
#endif  // SR_HAND_DETECTOR_SR_HAND_DETECTOR_H