modbus_linux/include/PLCProcess.h

#ifndef __PLC_PROCESS__HH__
#define __PLC_PROCESS__HH__

#include <tf/tf.h>
#include "tf2_msgs/TFMessage.h"
#include <Eigen/Core>
#include <Eigen/Dense>
#include <string>
#include <boost/foreach.hpp>
#include <boost/thread.hpp>
#include <vector>
#include <math.h>
#include "PLCModbus.h"

class PLCProcess
{
public:
    PLCProcess();
    ~PLCProcess();
    void Update(std::vector<std::vector<tf::Transform>> trajectorys);
    struct TRAJECTORY
    {
        std::vector<std::vector<tf::Transform>> left_trajectorys_;
        std::vector<std::vector<tf::Transform>> right_trajectorys_;
        bool bUpdate;

    };

protected:
    bool split_trajectorys(std::vector<std::vector<tf::Transform>> trajectorys);

    bool send_trajectory(std::vector<tf::Transform> trajectory_l,std::vector<tf::Transform> trajectory_r);
    std::vector<uint16_t> absolute_convert_to_relative(std::vector<tf::Transform> tf_data);
    unsigned int get_node_index();
    static void thread_func_process(void *process);

  public:
    struct TRAJECTORY          trajectory_;
    plc_modbus::CPLCModbus      plc_;
    bool            exit_;
    boost::thread* 	plc_process_thread_;
    boost::mutex	mutex_trajectorys_;
};

#endif