cob_canopen_motor: cob_canopen_motor: ElmoRecorder.h Source File

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: cob3_common
00012  * ROS package name: canopen_motor
00013  * Description: The in Elmo drives integrated Recorder allows the user to record drive information at a high frequency. 
00014  * The Recorder firstly has to be configured properly. It can be started immidiately after configuring or later, triggered by a signal (e.g. a begin-motion-command).
00015  * When the recording is finished, you can read out the data via CANopen using a segmented SDO transfer. Appropriate functions for this CANopen specific process are provided by the CanDriveHarmonica class.
00016  * This class brings all the functions to use the Elmo Recorder in a comfortable way. 
00017  *                                                              
00018  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00019  *                      
00020  * Author: Philipp Köhler
00021  * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
00022  *
00023  * Date of creation: Mar 2010
00024  * ToDo:
00025  *
00026  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00027  *
00028  * Redistribution and use in source and binary forms, with or without
00029  * modification, are permitted provided that the following conditions are met:
00030  *
00031  *     * Redistributions of source code must retain the above copyright
00032  *       notice, this list of conditions and the following disclaimer.
00033  *     * Redistributions in binary form must reproduce the above copyright
00034  *       notice, this list of conditions and the following disclaimer in the
00035  *       documentation and/or other materials provided with the distribution.
00036  *     * Neither the name of the Fraunhofer Institute for Manufacturing 
00037  *       Engineering and Automation (IPA) nor the names of its
00038  *       contributors may be used to endorse or promote products derived from
00039  *       this software without specific prior written permission.
00040  *
00041  * This program is free software: you can redistribute it and/or modify
00042  * it under the terms of the GNU Lesser General Public License LGPL as 
00043  * published by the Free Software Foundation, either version 3 of the 
00044  * License, or (at your option) any later version.
00045  * 
00046  * This program is distributed in the hope that it will be useful,
00047  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00048  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00049  * GNU Lesser General Public License LGPL for more details.
00050  * 
00051  * You should have received a copy of the GNU Lesser General Public 
00052  * License LGPL along with this program. 
00053  * If not, see <http://www.gnu.org/licenses/>.
00054  *
00055  ****************************************************************/
00056 
00057 #ifndef _ElmoRecorder_H
00058 #define _ElmoRecorder_H
00059 
00060 #include <string>
00061 #include <cob_canopen_motor/SDOSegmented.h>
00062 
00063 class CanDriveHarmonica;
00064 
00072 class ElmoRecorder {
00073         public:
00077                 ElmoRecorder(CanDriveHarmonica * pParentHarmonicaDrive);
00078 
00079                 ~ElmoRecorder();
00080                 
00084                 int processData(segData& SDOData);
00085                 
00095                 int configureElmoRecorder(int iRecordingGap, int driveID, int startImmediately = 1);
00096                 
00101                 bool isInitialized(bool initNow);
00102                 
00107                 int readoutRecorderTry(int iObjSubIndex);
00108 
00113                 int readoutRecorderTryStatus(int iStatusReg, segData& SDOData);
00114 
00118                 int setLogFilename(std::string sLogFileprefix);
00119                 
00120         private:
00124                 int m_iCurrentObject;
00125                 
00126                 float m_fRecordingStepSec;
00127                 
00128                 std::string m_sLogFilename;
00129                 
00133                 int m_iReadoutRecorderTry;
00134         
00135                 CanDriveHarmonica* m_pHarmonicaDrive;
00136                 
00140                 int m_iDriveID;
00141                 
00145                 bool m_bIsInitialized;
00146                 
00150                 int readoutRecorder(int iObjSubIndex);
00151                 
00157                 int logToFile(std::string filename, std::vector<float> vtValues[]);
00158                 
00162                 float convertBinaryToFloat(unsigned int binaryRepresentation);  
00163 
00167                 float convertBinaryToHalfFloat(unsigned int iBinaryRepresentation);
00168 };
00169 
00170 #endif