Task.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef SERVO_DYNAMIXEL_TASK_TASK_HPP
#define SERVO_DYNAMIXEL_TASK_TASK_HPP

#include "servo_dynamixel/TaskBase.hpp"
#include <dynamixel/dynamixel.h>
#include <map>

namespace servo_dynamixel {

    struct ServoLimits{
            uint16_t min_pos;
            uint16_t max_pos;
            uint16_t max_speed;
            uint16_t max_effort;
        };

    struct ServoStatus
    {
        int id;
        bool enabled;
        float positionScale;
        float positionOffset;
        float positionRange;
        float speedScale;
        float effortScale;
        ServoLimits limits;
        bool reverse;
    };




    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:

        Dynamixel dynamixel_;

        std::map<std::string, ServoStatus> status_map;

        base::samples::Joints joint_status;


        void readJointStatus();

        std::vector<base::samples::RigidBodyState> rbs;

        base::Time stamp_;

        void printErrorStatus(ErrorStatus status);

    public:
        Task(std::string const& name = "servo_dynamixel::Task");

        Task(std::string const& name, RTT::ExecutionEngine* engine);

        ~Task();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif