io_relay.h

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#ifndef MOTOMAN_DRIVER_IO_RELAY_H
#define MOTOMAN_DRIVER_IO_RELAY_H

#include "simple_message/socket/tcp_client.h"
#include "motoman_driver/io_ctrl.h"
#include "motoman_msgs/ReadSingleIO.h"
#include "motoman_msgs/WriteSingleIO.h"
#include <boost/thread.hpp>

namespace motoman
{
namespace io_relay
{

using industrial::tcp_client::TcpClient;

class MotomanIORelay
{
public:
  bool init(int default_port);

protected:
  io_ctrl::MotomanIoCtrl io_ctrl_;

  ros::ServiceServer srv_read_single_io;   // handle for read_single_io service
  ros::ServiceServer srv_write_single_io;   // handle for write_single_io service

  ros::NodeHandle node_;
  boost::mutex mutex_;
  TcpClient default_tcp_connection_;

  bool readSingleIoCB(motoman_msgs::ReadSingleIO::Request &req,
                            motoman_msgs::ReadSingleIO::Response &res);
  bool writeSingleIoCB(motoman_msgs::WriteSingleIO::Request &req,
                            motoman_msgs::WriteSingleIO::Response &res);
};

}  // namespace io_relay
}  // namespace motoman

#endif  // MOTOMAN_DRIVER_IO_RELAY_H