etherCAT_compatibility_hand.hpp

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/*
* Copyright 2011 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef    _ETHERCAT_COMPATIBILITY_HAND_HPP_
# define    _ETHERCAT_COMPATIBILITY_HAND_HPP_

#include "sr_hand/hand/sr_articulated_robot.h"
#include <sensor_msgs/JointState.h>

#include <string>
#include <vector>

namespace shadowrobot
{
// THIS CLASS IS CONSIDERED DEPRECATED AND SHOULD NOT BE USED FOR ANY NEW PACKAGE.
// IT IS NOT MARKED AS DEPRECATED THOUGH, AS IT IS STILL USED IN SOME OLD NODES
class EtherCATCompatibilityHand :
        public SRArticulatedRobot
{
public:
  EtherCATCompatibilityHand();

  virtual ~EtherCATCompatibilityHand();

  // virtual classes defined in Shadowhand
  virtual int16_t sendupdate(std::string joint_name, double target);

  virtual JointData getJointData(std::string joint_name);

  virtual JointsMap getAllJointsData();

  virtual int16_t setContrl(std::string contrlr_name, JointControllerData ctrlr_data);

  virtual JointControllerData getContrl(std::string ctrlr_name);

  virtual int16_t setConfig(std::vector<std::string> myConfig);

  virtual void getConfig(std::string joint_name);

  virtual std::vector<DiagnosticData> getDiagnostics();

protected:
  ros::NodeHandle node, n_tilde;

  void joint_states_callback(const sensor_msgs::JointStateConstPtr &msg);

  void initializeMap();

  std::string findControllerTopicName(std::string joint_name);

  // This vector stores publishers to each joint controller.
  std::vector<ros::Publisher> etherCAT_publishers;

  // a subscriber for the /joint_states topic.
  ros::Subscriber joint_state_subscriber;
};  // end class
}  // namespace shadowrobot

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


#endif  // _ETHERCAT_COMPATIBILITY_HAND_HPP_