generic_updater.hpp

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#ifndef GENERIC_UPDATER_HPP_
#define GENERIC_UPDATER_HPP_

#include <ros/ros.h>
#include <vector>
#include <list>
#include <queue>
#include <boost/thread.hpp>
#include <boost/smart_ptr.hpp>
#include <sr_external_dependencies/types_for_external.h>
extern "C"
{
  #include <sr_external_dependencies/external/0220_palm_edc/0220_palm_edc_ethercat_protocol.h>
  #include <sr_external_dependencies/external/0230_palm_edc_TS/0230_palm_edc_ethercat_protocol.h>
  #include <sr_external_dependencies/external/0320_palm_edc_muscle/0320_palm_edc_ethercat_protocol.h>
}

namespace operation_mode
{
  namespace device_update_state
  {
    enum DeviceUpdateState
    {
      INITIALIZATION,
      OPERATION
    };
  }
}

namespace generic_updater
{
  struct UpdateConfig
  {
    int32u what_to_update;
    double when_to_update;
  };

  template <class CommandType>
  class GenericUpdater
  {
  public:
    GenericUpdater(std::vector<UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state);
    ~GenericUpdater();

    virtual operation_mode::device_update_state::DeviceUpdateState build_command(CommandType* command)=0;

    void timer_callback(const ros::TimerEvent& event, int32u data_type);

    operation_mode::device_update_state::DeviceUpdateState update_state;
    std::vector<UpdateConfig> initialization_configs_vector;

  protected:
    ros::NodeHandle nh_tilde;

    std::vector<UpdateConfig> important_update_configs_vector;
    int which_data_to_request;

    std::vector<ros::Timer> timers;
    std::queue<int32u, std::list<int32u> > unimportant_data_queue;
    std::vector<UpdateConfig> update_configs_vector;

    boost::shared_ptr<boost::mutex> mutex;
  };
}




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

#endif /* GENERIC_UPDATER_HPP_ */