skin.h

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/*
 * Copyright (c) 2010, Bosch LLC
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Bosch LLC nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

//\Author Joerg Wagner, Bosch LLC

#ifndef SKIN_H_
#define SKIN_H_

//ROS Headers
#include <ros/ros.h>

//wxwdigets Headers
#include <wx/wx.h>

// messages
#include <proximity_sensor_driver/prox_sensor_measurement.h>

namespace skind_def
{
  //constants
  const int max_sensor_number = 192;
  const int anz_byte_per_sensor = 8;
}


class Skin
{
public:

  Skin();

  void skin_Callback( const boost::shared_ptr<proximity_sensor_driver::prox_sensor_measurement const>& msg );


  void initialize_sensor_data();//initialize sensor data

  ros::Time dtime_subscription_;

  //data structure Sensor Skin

  uint8_t u8readadr_hi_;
  uint8_t u8readadr_lo_;
  uint8_t u8sensor_number_;


  bool  bstatus_go_;


  bool  bstatus_err_;

  bool bsens_num_changed;



  uint8_t u8asensor_data_[skind_def::max_sensor_number][skind_def::anz_byte_per_sensor]; // 192 sensors, 8 Bytes per sensor

private:
  //ROS
  ros::NodeHandle nh_;
  ros::Subscriber skin_sub_;
};

#endif /* SKIN_H_ */