srh_joint_muscle_valve_controller.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 _SRH_MUSCLE_VALVE_CONTROLLER_HPP_
#define _SRH_MUSCLE_VALVE_CONTROLLER_HPP_

#include <sr_mechanism_controllers/sr_controller.hpp>
#include <sr_robot_msgs/JointMuscleValveControllerState.h>
#include <sr_robot_msgs/JointMuscleValveControllerCommand.h>

namespace controller
{
class SrhJointMuscleValveController :
        public SrController
{
public:
  SrhJointMuscleValveController();

  bool init(ros_ethercat_model::RobotStateInterface *robot, ros::NodeHandle &n);

  virtual void starting(const ros::Time &time);

  virtual void update(const ros::Time &time, const ros::Duration &period);

  virtual void getGains(double &p, double &i, double &d, double &i_max, double &i_min);

  virtual bool resetGains(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp);

  int8_t cmd_valve_muscle_[2];
  unsigned int cmd_duration_ms_[2];
  unsigned int current_duration_ms_[2];

  int8_t cmd_valve_muscle_min_;
  int8_t cmd_valve_muscle_max_;

private:
  // publish our joint controller state
  boost::shared_ptr<realtime_tools::RealtimePublisher
          <sr_robot_msgs::JointMuscleValveControllerState> > controller_state_publisher_;

  ros::Subscriber sub_command_;

  void setCommandCB(const sr_robot_msgs::JointMuscleValveControllerCommandConstPtr &msg);

  void read_parameters();

  int8_t clamp_command(int8_t cmd);
};
}  // namespace controller

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


#endif