joint_motion_handler.h

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#ifndef JOINT_MOTION_HANDLER_H
#define JOINT_MOTION_HANDLER_H

#include "motoPlus.h"
#include "message_handler.h"
#include "joint_message.h"
#include "p_var_q.h"

namespace motoman
{
namespace joint_motion_handler
{

//* MessageHandler

/*
Motoplus Functional Specs:

Upon receiving...
1st point - enable motion, start job, add point (increment buffer index), 
Nth point - add point (increment buffer index)
end of trajectory - wait until buffer size = 0, disable motion, stop job, reset buffer indicies
motion stop - disable motion, stop job

INFORM Functional Specs:

start job - reset buffer index
non-empty buffer - execute motion, increment motion pointer
empty buffer - do not execute any motion (wait for points)
end of position variables (jump to beginning position)
 
TODO: WHAT TO DO IF THE END OF TRAJECTORY FLAG HAS BEEN RECEIVED AND
THEN A MOTION CANCEL HAS BEEN RECEIVED.  MIGHT WANT TO CONSIDER USING
AN EXTRA VARIABLE ON THE CONTROLLER FOR THE INFORM JOB TO MONITOR
*/


class JointMotionHandler : public industrial::message_handler::MessageHandler
{

public:

JointMotionHandler(void);
~JointMotionHandler(void);

bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection);

bool init(int msg_type, industrial::smpl_msg_connection::SmplMsgConnection* connection)
{ return MessageHandler::init(msg_type, connection);};


private:


// Servo power variables
MP_SERVO_POWER_SEND_DATA servo_power_data;
MP_STD_RSP_DATA servo_power_error;

// Job variables
MP_START_JOB_SEND_DATA job_start_data;
MP_CUR_JOB_SEND_DATA job_reset_data;
MP_STD_RSP_DATA job_reset_error;
MP_STD_RSP_DATA job_error;


// Hold variables
MP_HOLD_SEND_DATA hold_data;
MP_STD_RSP_DATA hold_error;
        
motoman::p_var_q::PVarQ pVarQ; 
 
 static const int MP_POLL_TICK_DELAY = 10;
 
 static const int BUFFER_POLL_TICK_DELAY = 1000;
 
 //TODO: motion and job flags are just internal state variables, we may
 //want to make them query the appropriate motoplus API calls instead.
 //This should just require rewriting the access functions below.
 bool motionEnabled;
 
 bool jobStarted;
 
bool isMotionEnabled(void) {return motionEnabled;};

bool isJobStarted(void) {return jobStarted;};
 
 bool internalCB(industrial::simple_message::SimpleMessage & in);
 
 
 void motionInterface(industrial::joint_message::JointMessage & jMsg);
 
 
void enableMotion(void);

void disableMotion(void);

void startMotionJob(void);
        
void stopMotionJob(void);
        
};

}//joint_motion_handler
}//industrial


#endif /* JOINT_MOTION_HANDLER_H */