skin.h
Go to the documentation of this file.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 SKIN_H_ 00033 #define SKIN_H_ 00034 00035 //ROS Headers 00036 #include <ros/ros.h> 00037 00038 //wxwdigets Headers 00039 #include <wx/wx.h> 00040 00041 // messages 00042 #include <skin_driver/skin_meas.h> 00043 00045 namespace skind_def { 00046 //constants 00047 const int max_sensor_number = 192; 00048 const int anz_byte_per_sensor = 8; 00049 } 00050 00052 00057 class Skin 00058 { 00059 public: 00061 00064 Skin(); 00065 00067 void skin_Callback(const boost::shared_ptr<skin_driver::skin_meas const>& msg); 00068 00070 00079 void initialize_sensor_data();//initialize sensor data 00080 00082 ros::Time dtime_subscription_; 00083 00085 //data structure Sensor Skin 00087 00089 uint8_t u8readadr_hi_; 00091 uint8_t u8readadr_lo_; 00093 uint8_t u8sensor_number_; 00094 00096 00101 bool bstatus_go_; 00102 00104 00109 bool bstatus_err_; 00110 00112 bool bsens_num_changed; 00113 00114 00116 00127 uint8_t u8asensor_data_[skind_def::max_sensor_number][skind_def::anz_byte_per_sensor]; // 192 sensors, 8 Bytes per sensor 00128 00129 private: 00131 //ROS 00133 ros::NodeHandle nh_; 00134 ros::Subscriber skin_sub_; 00135 }; 00136 00137 #endif /* SKIN_H_ */