darwin_robot_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _darwin_node_driver_h_
#define _darwin_node_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_darwin_robot/DarwinRobotConfig.h>

//include darwin_node_driver main library
#include "darwin_robot.h"
#include "darwin_exceptions.h"

class DarwinRobotDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    CDarwin *robot;
    // sub controller device identifier
    std::string CM730_device;
    // action file path
    std::string action_file;
    // configuration file path
    std::string config_file;
  public:
    typedef iri_darwin_robot::DarwinRobotConfig Config;

    Config config_;

    DarwinRobotDriver(void);

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all darwin_node_driver interface methods to retrieve and set
    // the driver parameters
    std::vector<double> get_current_angles(void);
    // Walking interface
    void start_walking(double x_dist, double y_dist, double turn_angle);
    void tune_walking(double x_dist,double y_dist, double turn_angle);
    void set_walking_param(motion_params param, double value);
    double get_walking_param(motion_params param);
    void stop_walking(void);
    bool is_walking(void);
    // action interface
    void start_action(unsigned int action_index);
    void start_action(std::string &action_name);
    void stop_action(void);
    void break_action(void);
    bool action_is_running(void);
    // Head public interface
    void get_head_position(double *pan, double *tilt);
    void set_head_position(double pan, double tilt);
    // sensor interface
    void get_gyroscope(double *x,double *y, double *z);
    void get_accelerometer(double *x, double *y, double *z);
    void get_analog_channel(analogs id,double *value);
    // joint motion public interface
    std::string move_joints(std::vector<int> &servos,std::vector<double> &angles,std::vector<double> &speeds, std::vector<double> &accels, const std::string &target_id=std::string(""));
    bool joints_are_moving(std::string &target_id);
    void stop_joints(std::string &target_id);
    // tracking public interface
    void start_head_tracking(void);
    void stop_head_tracking(void);
    void set_tracking_pid(int t, TPID *pan_pid, TPID *tilt_pid);
    void get_tracking_pid(int *t, TPID *pan_pid, TPID *tilt_pid);
    void set_tracking_target(double pan, double tilt);
    void get_tracking_target(double *pan, double *tilt);
    ~DarwinRobotDriver(void);
};

#endif