00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _bhand_driver_h_ 00026 #define _bhand_driver_h_ 00027 00028 #include <iri_base_driver/iri_base_driver.h> 00029 #include <iri_bhand/BhandConfig.h> 00030 00031 //include bhand_driver main library 00032 #include "BarrettHand.h" 00033 00053 class BhandDriver : public iri_base_driver::IriBaseDriver 00054 { 00055 private: 00056 // private attributes and methods 00057 std::string bhserver_ip; 00058 int server_port; 00059 int state_refresh_rate; 00060 BarrettHand *bhand; 00061 00062 public: 00069 typedef iri_bhand::BhandConfig Config; 00070 00077 Config config_; 00078 00087 BhandDriver(); 00088 00099 bool openDriver(void); 00100 00111 bool closeDriver(void); 00112 00123 bool startDriver(void); 00124 00135 bool stopDriver(void); 00136 00148 void config_update(const Config& new_cfg, uint32_t level=0); 00149 00150 // here define all bhand_driver interface methods to retrieve and set 00151 // the driver parameters 00152 00159 ~BhandDriver(); 00160 00161 int rawCommand(std::string data); 00162 }; 00163 00164 #endif