YouBotBase.hpp

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#ifndef YOUBOT_YOUBOTBASE_H
#define YOUBOT_YOUBOTBASE_H

/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
 *
 * 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 LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ****************************************************************/
#include <vector>
#include <sstream>
#include <string>
#include <youbot_driver/generic/Logger.hpp>
#include <youbot_driver/generic/Units.hpp>
#include <youbot_driver/generic/Time.hpp>
#include <youbot_driver/generic/ConfigFile.hpp>
#include <youbot_driver/generic/Exceptions.hpp>
#include <youbot_driver/youbot/YouBotJoint.hpp>
#include <youbot_driver/youbot/YouBotJointParameter.hpp>
#include <youbot_driver/base-kinematic/FourSwedishWheelOmniBaseKinematic.hpp>
#include <youbot_driver/base-kinematic/FourSwedishWheelOmniBaseKinematicConfiguration.hpp>
#include <youbot_driver/youbot/EthercatMaster.hpp>
#include <youbot_driver/youbot/EthercatMasterInterface.hpp>
#include <youbot_driver/youbot/EthercatMasterWithThread.hpp>
#include <youbot_driver/youbot/EthercatMasterWithoutThread.hpp>
#include <boost/ptr_container/ptr_vector.hpp>
#include <boost/scoped_ptr.hpp>
namespace youbot
{

#define BASEJOINTS 4



class YouBotBase
{
public:
  YouBotBase(const std::string name, const std::string configFilePath);

  virtual ~YouBotBase();

  void doJointCommutation();

  YouBotJoint& getBaseJoint(const unsigned int baseJointNumber);

  void getBasePosition(quantity<si::length>& longitudinalPosition, quantity<si::length>& transversalPosition,
                       quantity<plane_angle>& orientation);

  void setBasePosition(const quantity<si::length>& longitudinalPosition,
                       const quantity<si::length>& transversalPosition, const quantity<plane_angle>& orientation);

  void getBaseVelocity(quantity<si::velocity>& longitudinalVelocity, quantity<si::velocity>& transversalVelocity,
                       quantity<si::angular_velocity>& angularVelocity);

  void setBaseVelocity(const quantity<si::velocity>& longitudinalVelocity,
                       const quantity<si::velocity>& transversalVelocity,
                       const quantity<si::angular_velocity>& angularVelocity);

  FourSwedishWheelOmniBaseKinematic youBotBaseKinematic;

  virtual void setJointData(const std::vector<JointAngleSetpoint>& JointData);

  virtual void getJointData(std::vector<JointSensedAngle>& data);

  virtual void setJointData(const std::vector<JointVelocitySetpoint>& JointData);

  virtual void getJointData(std::vector<JointSensedVelocity>& data);

  virtual void setJointData(const std::vector<JointCurrentSetpoint>& JointData);

  virtual void getJointData(std::vector<JointSensedCurrent>& data);

  virtual void setJointData(const std::vector<JointTorqueSetpoint>& JointData);

  virtual void getJointData(std::vector<JointSensedTorque>& data);

private:
  YouBotBase(const YouBotBase & source);

  YouBotBase & operator=(const YouBotBase & source);

  void commutationFirmware200();

  void commutationFirmware148();

  void initializeJoints();

  void initializeKinematic();

  boost::scoped_ptr<ConfigFile> configfile;

  boost::ptr_vector<YouBotJoint> joints;

  int controllerType;

  int alternativeControllerType;

  EthercatMasterInterface& ethercatMaster;

  EthercatMasterWithThread* ethercatMasterWithThread;

  std::vector<std::string> supportedFirmwareVersions;

  std::string actualFirmwareVersionAllJoints;

};

} // namespace youbot
#endif