00001 /* 00002 * Copyright (c) 2010, Bosch LLC 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of Bosch LLC nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 //\Author Joerg Wagner, Bosch LLC 00031 00032 #ifndef CONFIG_SKIN_H_ 00033 #define CONFIG_SKIN_H_ 00034 00035 //wxwidgets stuff 00036 #include <wx/wx.h> 00037 00038 //ROS Headers 00039 #include <ros/ros.h> 00040 00041 // messages 00042 #include <skin_driver/skin_meas.h> 00043 00044 //services 00045 #include <skin_driver/skin_serv.h> 00046 00048 00053 class SkinConfig 00054 { 00055 public: 00056 00058 00064 SkinConfig(); 00065 00067 void skin_Callback(const boost::shared_ptr<skin_driver::skin_meas const>& msg); 00068 00070 00083 bool OnRequestChanges(const uint8_t start_adr[2], const uint8_t steps, const uint8_t number_of_bytes, uint8_t write_data, bool sens_num_change); 00084 00086 ros::Time dtime_subscription_; 00087 00088 00090 //Flags 00092 00094 bool bskin_driver_node_online; 00095 00096 00098 //data structure Sensor Skin / configuration interface 00100 00102 uint8_t ui8sensor_number_; 00104 uint8_t ui8dyn_thres_currentvalue_; 00105 00106 private: 00107 00109 //ROS variables 00111 00112 ros::NodeHandle nh_; 00113 ros::Subscriber skin_sub_; 00114 ros::ServiceClient config_client; 00115 00117 skin_driver::skin_serv srv_; 00118 }; 00119 00120 #endif /* CONFIG_SKIN_H_ */