cob_powercube_chain: PowerCubeCtrl

00001 /****************************************************************
00002  *
00003  * Copyright (c) 2010
00004  *
00005  * Fraunhofer Institute for Manufacturing Engineering   
00006  * and Automation (IPA)
00007  *
00008  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00009  *
00010  * Project name: care-o-bot
00011  * ROS stack name: cob_driver
00012  * ROS package name: cob_powercube_chain
00013  * Description:
00014  *                                                              
00015  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00016  *                      
00017  * Author: Alexander Bubeck, email:alexander.bubeck@ipa.fhg.de
00018  * Supervised by: Alexander Bubeck, email:alexander.bubeck@ipa.fhg.de
00019  *
00020  * Date of creation: Dec 2009
00021  * ToDo:
00022  *
00023  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00024  *
00025  * Redistribution and use in source and binary forms, with or without
00026  * modification, are permitted provided that the following conditions are met:
00027  *
00028  *     * Redistributions of source code must retain the above copyright
00029  *       notice, this list of conditions and the following disclaimer.
00030  *     * Redistributions in binary form must reproduce the above copyright
00031  *       notice, this list of conditions and the following disclaimer in the
00032  *       documentation and/or other materials provided with the distribution.
00033  *     * Neither the name of the Fraunhofer Institute for Manufacturing 
00034  *       Engineering and Automation (IPA) nor the names of its
00035  *       contributors may be used to endorse or promote products derived from
00036  *       this software without specific prior written permission.
00037  *
00038  * This program is free software: you can redistribute it and/or modify
00039  * it under the terms of the GNU Lesser General Public License LGPL as 
00040  * published by the Free Software Foundation, either version 3 of the 
00041  * License, or (at your option) any later version.
00042  * 
00043  * This program is distributed in the hope that it will be useful,
00044  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00045  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00046  * GNU Lesser General Public License LGPL for more details.
00047  * 
00048  * You should have received a copy of the GNU Lesser General Public 
00049  * License LGPL along with this program. 
00050  * If not, see <http://www.gnu.org/licenses/>.
00051  *
00052  ****************************************************************/
00053 
00054 #ifndef _POWERCUBECTRL_OROCOS_
00055 #define _POWERCUBECTRL_OROCOS_
00056 
00057 #include <rtt/TaskContext.hpp>
00058 #include <rtt/Command.hpp>
00059 #include <rtt/Ports.hpp>
00060 #include <rtt/Property.hpp>
00061 #include <rtt/marsh/PropertyMarshaller.hpp>
00062 #include "PowerCubeCtrl.h"
00063 
00064 #include <iostream>
00065 using namespace std;
00066 
00067 
00068 class PowerCubeCtrl_OROCOS : public RTT::TaskContext
00069 {
00070         public:
00071 
00072                 PowerCubeCtrl_OROCOS(std::string name, std::string file, int dof);
00073                 //PowerCubeCtrl_OROCOS(std::string name);
00074                 ~PowerCubeCtrl_OROCOS();
00075 
00076                 bool configureHook();
00077                 bool startHook();
00078                 void updateHook();
00079                 void stopHook();
00080                 void cleanupHook(){}
00081 
00082                 /* The dataports have the following names:
00083                 "in_Angles"
00084                 "in_Velocities"
00085                 "in_Currents"
00086                 "out_Angles"
00087                 "out_Velocities"
00088                 */
00089 
00090         protected:
00091         
00092                 bool stopArm();
00093                 bool isArmStopped();
00094                 bool moveJointSpace(std::vector<double> target);
00095                 //bool m_stopped;
00096 
00097                 std::string m_xmlFile;
00098                 int m_dof;
00099 
00100                 RTT::ReadDataPort< std::vector<double> > m_in_Angles;
00101                 bool m_in_Angles_connected;
00102 
00103                 RTT::ReadDataPort< std::vector<double> > m_in_Velocities; // MoveVel
00104                 bool m_in_Velocities_connected;
00105 
00106                 RTT::ReadDataPort< std::vector<double> > m_in_Currents;
00107                 bool m_in_Currents_connected;
00108 
00109                 RTT::WriteDataPort< std::vector<double> > m_out_Angles; // getConfig
00110                 RTT::WriteDataPort< std::vector<double> > m_out_Velocities; // getJointVelocities
00111                 //WriteDataPort< std::vector<double> > m_out_Currents;
00112 
00113                 RTT::Method<bool(void)> m_stop_method;
00114                 //RTT::Method<bool(std::vector<double>)> m_moveJointSpace_method;
00115 
00116                 RTT::Property<int> m_CanDev_prop;
00117                 RTT::Property<int> m_CanBaud_prop;
00118                 RTT::Property<int> m_dof_prop;
00119                 RTT::Property<double> m_MaxVel_prop;
00120                 RTT::Property<double> m_MaxAcc_prop;
00121 
00122                 std::vector< RTT::PropertyBag > m_mod_params_bags;
00123                 std::vector< RTT::Property<RTT::PropertyBag> > m_mod_params;
00124 
00125                 std::vector< RTT::Property<int> > m_modId_props;
00126                 std::vector< RTT::Property<double> > m_ul_props;
00127                 std::vector< RTT::Property<double> > m_ll_props;
00128                 std::vector< RTT::Property<double> > m_offset_props;
00129 
00130                 PowerCubeCtrl m_powercubectrl;
00131 
00132 };
00133 
00134 #endif
00135
PowerCubeCtrl_OROCOS.h
