CDxlROSPacketHandler.h
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00001 #ifndef CDXLROSPACKETHANDLER_H_
00002 #define CDXLROSPACKETHANDLER_H_
00003 
00004 #include <ros/ros.h>
00005 #include <threemxl/platform/hardware/dynamixel/CDxlPacketHandler.h>
00006 
00007 class CDxlROSPacketHandler : public CDxlPacketHandler
00008 {
00009     protected:
00010         ros::NodeHandle         nh_;
00011         ros::ServiceClient      sendto_service_;
00012         ros::ServiceClient      recv_service_;
00013         ros::Publisher          flush_pub_;
00014         
00015         int                     initialized_;
00016         int                     socket_;
00017         int                     last_error_;
00018 
00019     public:
00020         CDxlROSPacketHandler(const char *path);
00021         int                     init();
00022         int                     sendPacket(CDxlPacket *packet, bool replyExpected);
00023         int                     receivePacketWait(CDxlStatusPacket *packet, int seconds, int microseconds);
00024         int                     getLastError();
00025 };
00026 
00027 #endif /* CDXLROSPACKETHANDLER_H_ */


threemxl
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autogenerated on Thu Jun 6 2019 21:10:52