JointControlActualGripper.h

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/***************************************************************************/
#ifndef JOINTCONTROLACTUALFSMGRIPPER_H_
#define JOINTCONTROLACTUALFSMGRIPPER_H_

#include "robodyn_mechanisms/JointControlActualInterface.h"
#include "robot_instance/NodeRegisterManager.h"

class JointControlActualGripper : public JointControlActualInterface
{
public:
    JointControlActualGripper(const std::string&, IoFunctions, NodeRegisterManagerPtr);
    virtual ~JointControlActualGripper();

    void getStates(r2_msgs::JointControlData& actualStates);
    void updateControlModeState(void);
    void updateCommandModeState(void);
    void updateCalibrationModeState(void);
    void updateClearFaultModeState(void);
    void updateCoeffState(void);
    void getFaults(diagnostic_msgs::DiagnosticStatus& faultStatus);

protected:
    void setParameters();
    NodeRegisterManagerPtr nodeRegisterManager;
    const std::string logCategory;

private:
    // Status bit names
    std::string ProcAliveStatusName;
    std::string CommAliveStatusName;
    std::string JointFaultStatusName;
    std::string CoeffsLoadedStatusName;
    std::string MotorEnableStatusName;
    std::string BrakeReleaseStatusName;
    std::string BridgeEnableStatusName;
    std::string MotComSourceStatusName;
    std::string ControlModeStatusName;
    std::string CalibrationModeStatusName;
    std::string ClearFaultStatusName;
    std::string NotInBootloaderStatusName;
    std::string BridgeFaultStatusName;
    std::string BusVoltageFaultStatusName;
    std::string ApsFaultStatusName;
    std::string Aps1TolFaultStatusName;
    std::string Aps2TolFaultStatusName;
    std::string EncDriftFaultStatusName;
    std::string VelocityFaultStatusName;
    std::string LimitFaultStatusName;
    std::string CurrentFaultStatusName;
    std::string ATIStaticFaultStatusName;
};

#endif