sr06.h

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#ifndef SR06_H
#define SR06_H

#include <ethercat_hardware/ethercat_device.h>
#include <sr_edc_ethercat_drivers/sr_edc.h>
#include <realtime_tools/realtime_publisher.h>
#include <std_msgs/Int16.h>
#include <std_msgs/Float64MultiArray.h>
#include <sr_robot_msgs/SimpleMotorFlasher.h>
#include <pthread.h>
#include <bfd.h>
#include <boost/smart_ptr.hpp>
#include <map>
#include <boost/assign.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/algorithm/string/find_iterator.hpp>

#include <sr_robot_lib/sr_motor_hand_lib.hpp>

#include <sr_robot_msgs/EthercatDebug.h>

#include <sr_external_dependencies/types_for_external.h>
extern "C"
{
  #include <sr_external_dependencies/external/0220_palm_edc/0220_palm_edc_ethercat_protocol.h>
}


class SR06 : public SrEdc
{
public:
  SR06();
  ~SR06();

  void construct(EtherCAT_SlaveHandler *sh, int &start_address);
  int  initialize(pr2_hardware_interface::HardwareInterface *hw, bool allow_unprogrammed=true);
  void multiDiagnostics(vector<diagnostic_msgs::DiagnosticStatus> &vec, unsigned char *buffer);

  void packCommand(unsigned char *buffer, bool halt, bool reset);
  bool unpackState(unsigned char *this_buffer, unsigned char *prev_buffer);

protected:

  typedef realtime_tools::RealtimePublisher<std_msgs::Int16> rt_pub_int16_t;
  std::vector< boost::shared_ptr<rt_pub_int16_t> >   realtime_pub_;

  boost::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Float64MultiArray> > extra_analog_inputs_publisher;

  void reinitialize_boards();

  void get_board_id_and_can_bus(int board_id, int *can_bus, unsigned int *board_can_id);

private:

  //std::string                      firmware_file_name;

  unsigned int                     zero_buffer_read;

  boost::shared_ptr<shadow_robot::SrMotorHandLib<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND> > sr_hand_lib;

  short cycle_count;

  boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::EthercatDebug> > debug_publisher;


};


/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/


#endif /* SR06_H */