00001 /* 00002 * Copyright (c) 2013, Shadow Robot Company, All rights reserved. 00003 * 00004 * This library is free software; you can redistribute it and/or 00005 * modify it under the terms of the GNU Lesser General Public 00006 * License as published by the Free Software Foundation; either 00007 * version 3.0 of the License, or (at your option) any later version. 00008 * 00009 * This library is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00012 * Lesser General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU Lesser General Public 00015 * License along with this library. 00016 */ 00017 00027 #ifndef _COD_DECOD_HPP_ 00028 #define _COD_DECOD_HPP_ 00029 00030 #include <ros_ethercat_model/robot_state.hpp> 00031 #include <diagnostic_msgs/DiagnosticStatus.h> 00032 #include <diagnostic_updater/DiagnosticStatusWrapper.h> 00033 #include <ros_ethercat_hardware/ethercat_hardware.h> 00034 #include <pluginlib/class_list_macros.h> 00035 #include <vector> 00036 00037 namespace sr_cod_decod 00038 { 00039 class CodDecod 00040 { 00041 public: 00042 CodDecod(); 00043 virtual ~CodDecod() {} 00044 00045 virtual void construct(hardware_interface::HardwareInterface *hw, EtherCAT_SlaveHandler *sh, int n_digital_outputs, 00046 int n_analog_outputs, int n_digital_inputs, int n_analog_inputs, int n_PWM_outputs); 00047 virtual void update(unsigned char *status_buffer); 00048 virtual void build_command(unsigned char *command_buffer); 00049 virtual void add_diagnostics(std::vector<diagnostic_msgs::DiagnosticStatus> &vec, 00050 diagnostic_updater::DiagnosticStatusWrapper &d); 00051 protected: 00052 EtherCAT_SlaveHandler *sh_; 00053 ros_ethercat_model::RobotState *hw_; 00054 }; 00055 } // namespace sr_cod_decod 00056 00057 00058 #endif