00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef NETFT_RDT_DRIVER 00036 #define NETFT_RDT_DRIVER 00037 00038 #include <boost/asio.hpp> 00039 #include <boost/thread/mutex.hpp> 00040 #include <boost/thread/thread.hpp> 00041 #include <boost/thread/condition.hpp> 00042 #include <string> 00043 00044 #include "diagnostic_updater/DiagnosticStatusWrapper.h" 00045 #include "geometry_msgs/WrenchStamped.h" 00046 00047 namespace netft_rdt_driver 00048 { 00049 00050 class NetFTRDTDriver 00051 { 00052 public: 00053 // Start receiving data from NetFT device 00054 NetFTRDTDriver(const std::string &address); 00055 00056 ~NetFTRDTDriver(); 00057 00059 void getData(geometry_msgs::WrenchStamped &data); 00060 00062 void diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d); 00063 00065 // Returns true if new data has arrived, false it function times out 00066 bool waitForNewData(void); 00067 00068 protected: 00069 void recvThreadFunc(void); 00070 00072 void startStreaming(void); 00073 00074 enum {RDT_PORT=49152}; 00075 std::string address_; 00076 00077 boost::asio::io_service io_service_; 00078 boost::asio::ip::udp::socket socket_; 00079 boost::mutex mutex_; 00080 boost::thread recv_thread_; 00081 boost::condition condition_; 00082 volatile bool stop_recv_thread_; 00084 bool recv_thread_running_; 00086 std::string recv_thread_error_msg_; 00087 00089 geometry_msgs::WrenchStamped new_data_; 00091 unsigned packet_count_; 00093 unsigned lost_packets_; 00095 unsigned out_of_order_count_; 00097 unsigned seq_counter_; 00098 00100 double force_scale_; 00102 double torque_scale_; 00103 00105 unsigned diag_packet_count_; 00107 ros::Time last_diag_pub_time_; 00108 00110 uint32_t last_rdt_sequence_; 00112 uint32_t system_status_; 00113 }; 00114 00115 00116 } // end namespace netft_rdt_driver 00117 00118 00119 #endif // NETFT_RDT_DRIVER