sr_actuator.hpp

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#ifndef _SR_ACTUATOR_HPP_
#define _SR_ACTUATOR_HPP_

#include "sr_hardware_interface/tactile_sensors.hpp"
#include <pr2_hardware_interface/hardware_interface.h>

namespace sr_actuator
{
  class SrActuatorState : public pr2_hardware_interface::ActuatorState
  {
  public:
    SrActuatorState() :
      pr2_hardware_interface::ActuatorState(),
      temperature_(0),
      position_unfiltered_(0.0),
      can_msgs_received_(0),
      can_msgs_transmitted_(0),
      pic_firmware_svn_revision_(0),
      server_firmware_svn_revision_(0),
      firmware_modified_(0),
      serial_number_low_set(false),
      serial_number_high_set(false),
      serial_number_low(0),
      serial_number_high(0),
      serial_number(0),
      assembly_data_year(0),
      assembly_data_month(0),
      assembly_data_day(0),
      tests_(0),
      can_error_counters(0)
    {}


    std::vector<int> raw_sensor_values_;
    std::vector<double> calibrated_sensor_values_;

    std::vector<std::pair<std::string, bool> > flags_;

    double temperature_;

    double position_unfiltered_;

    uint64_t can_msgs_received_;
    uint64_t can_msgs_transmitted_;

    unsigned int pic_firmware_svn_revision_;
    unsigned int server_firmware_svn_revision_;
    bool firmware_modified_;

    //Serial number is composed of a low and
    // a high byte.
    void set_serial_number_low(unsigned int serial)
    {
      serial_number_low = serial;

      serial_number_low_set = true;
      if( serial_number_high_set ) //we received both bytes
        compute_serial();
    };
    void set_serial_number_high(unsigned int serial)
    {
      serial_number_high = serial;

      serial_number_high_set = true;
      if( serial_number_low_set ) //we received both bytes
        compute_serial();
    };
    void compute_serial()
    {
      serial_number = serial_number_low + (serial_number_high * 65536);
    };

    bool serial_number_low_set;
    bool serial_number_high_set;
    unsigned int serial_number_low;
    unsigned int serial_number_high;
    unsigned int serial_number;

    unsigned int assembly_data_year;
    unsigned int assembly_data_month;
    unsigned int assembly_data_day;

    int tests_;
    unsigned int can_error_counters;

    std::vector<tactiles::AllTactileData>* tactiles_;
  }; //end class SrActuatorState

  class SrMotorActuatorState : public SrActuatorState
  {
  public:
    SrMotorActuatorState() :
      SrActuatorState(),
      strain_gauge_left_(0),
      strain_gauge_right_(0),
      force_unfiltered_(0.0),
      pwm_(0),
      motor_gear_ratio(0),
      force_control_f_(0),
      force_control_p_(0),
      force_control_i_(0),
      force_control_d_(0),
      force_control_imax_(0),
      force_control_deadband_(0),
      force_control_sign_(0),
      force_control_frequency_(0)
    {}

    signed short strain_gauge_left_;
    signed short strain_gauge_right_;


    double force_unfiltered_;

    int pwm_;

    unsigned int motor_gear_ratio;

    int force_control_f_;
    int force_control_p_;
    int force_control_i_;
    int force_control_d_;
    int force_control_imax_;
    int force_control_deadband_;
    int force_control_sign_;
    int force_control_frequency_;

    int force_control_pterm;
    int force_control_iterm;
    int force_control_dterm;
  }; //end class SrMotorActuatorState

  class SrMuscleActuatorState : public SrActuatorState
  {
  public:
    SrMuscleActuatorState() :
      SrActuatorState()
    {}

    uint16_t pressure_[2];
    int8_t last_commanded_valve_[2];
  }; //end class SrMuscleActuatorState

  class SrMuscleActuatorCommand : public pr2_hardware_interface::ActuatorCommand
  {
  public:
    SrMuscleActuatorCommand() :
      pr2_hardware_interface::ActuatorCommand(),
      valve_{0, 0}
    {}

    int8_t valve_[2];
  }; //end class SrMuscleActuatorCommand


  class SrGenericActuator : public pr2_hardware_interface::Actuator
  {
  public:
    SrGenericActuator()
      : pr2_hardware_interface::Actuator()
    {}

    SrGenericActuator(std::string name)
      : pr2_hardware_interface::Actuator(name)
    {}

    //A virtual destructor to make the class polymorphic (the compiler is picky about trying to dynamic_cast non-polymorphic classes)
    virtual ~SrGenericActuator()
    {}

    //SrActuatorState state_;
  }; //end class SrGenericActuator

  class SrActuator : public SrGenericActuator
  {
  public:
    SrActuator()
      : SrGenericActuator()
    {}

    SrActuator(std::string name)
      : SrGenericActuator(name)
    {}

    virtual ~SrActuator()
    {}

    SrMotorActuatorState state_;
  }; //end class SrActuator

  class SrMuscleActuator : public SrGenericActuator
  {
  public:
    SrMuscleActuator()
      : SrGenericActuator()
    {}

    SrMuscleActuator(std::string name)
      : SrGenericActuator(name)
    {}

    virtual ~SrMuscleActuator()
    {}

    SrMuscleActuatorState state_;
    SrMuscleActuatorCommand command_;
  }; //end class SrActuator
}

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/

#endif