sdhbase.h

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//======================================================================
//======================================================================

#ifndef SDHBASE_H_
#define SDHBASE_H_

#include "sdhlibrary_settings.h"

#if SDH_USE_VCC
# pragma warning(disable : 4290)
#endif

//----------------------------------------------------------------------
// System Includes - include with <>
//----------------------------------------------------------------------

#include "iostream"

//----------------------------------------------------------------------
// Project Includes - include with ""
//----------------------------------------------------------------------

#include "dbg.h"
#include "sdhexception.h"
#include "simplevector.h"

//----------------------------------------------------------------------
// Defines, enums, unions, structs,
//----------------------------------------------------------------------

NAMESPACE_SDH_START


//----------------------------------------------------------------------
// Global variables
//----------------------------------------------------------------------

extern VCC_EXPORT std::ostream* g_sdh_debug_log;

//----------------------------------------------------------------------
// Function declarations
//----------------------------------------------------------------------


//----------------------------------------------------------------------
// Class declarations
//----------------------------------------------------------------------

class VCC_EXPORT cSDHErrorInvalidParameter: public cSDHLibraryException
{
public:
  cSDHErrorInvalidParameter( cMsg const & _msg )
    : cSDHLibraryException( "cSDHErrorInvalidParameter", _msg )
  {}
};
//======================================================================

class VCC_EXPORT cSDHBase
{
public:

    enum {
        All = -1 
    };


    enum eErrorCode
    {
        eEC_SUCCESS = 0,
        eEC_NOT_AVAILABLE,
        eEC_NOT_INITIALIZED,
        eEC_ALREADY_RUNNING,
        eEC_FEATURE_NOT_SUPPORTED,
        eEC_INCONSISTENT_DATA,
        eEC_TIMEOUT,
        eEC_READ_ERROR,
        eEC_WRITE_ERROR,
        eEC_INSUFFICIENT_RESOURCES,
        eEC_CHECKSUM_ERROR,
        eEC_NOT_ENOUGH_PARAMS,
        eEC_NO_PARAMS_EXPECTED,
        eEC_CMD_UNKNOWN,
        eEC_CMD_FORMAT_ERROR,
        eEC_ACCESS_DENIED,
        eEC_ALREADY_OPEN,
        eEC_CMD_FAILED,
        eEC_CMD_ABORTED,
        eEC_INVALID_HANDLE,
        eEC_DEVICE_NOT_FOUND,
        eEC_DEVICE_NOT_OPENED,
        eEC_IO_ERROR,
        eEC_INVALID_PARAMETER,
        eEC_RANGE_ERROR,
        eEC_NO_DATAPIPE,
        eEC_INDEX_OUT_OF_BOUNDS,
        eEC_HOMING_ERROR,
        eEC_AXIS_DISABLED,
        eEC_OVER_TEMPERATURE,
        eEC_MAX_COMMANDS_EXCEEDED,
        eEC_INVALID_PASSWORD,
        eEC_MAX_COMMANDLINE_EXCEEDED,
        eEC_CRC_ERROR,
        eEC_NO_COMMAND,

        eEC_INTERNAL,
        eEC_UNKNOWN_ERROR,

        eEC_DIMENSION         
    };


    enum eGraspId
    {
        // ??? fehlt e vor enums:
        eGID_INVALID = -1,    
        eGID_CENTRICAL = 0,   
        eGID_PARALLEL = 1,    
        eGID_CYLINDRICAL = 2, 
        eGID_SPHERICAL = 3,   

        eGID_DIMENSION        
    };


    enum eControllerType
    {
        eCT_INVALID = -1,          
        eCT_POSE = 0,              
        eCT_VELOCITY,              
        eCT_VELOCITY_ACCELERATION, 

// TODO: not implemented yet
//        eCT_POSITION,              //!< position controller, positions of axes are controlled independently  (not implemented in %SDH firmwares up to and including 0.0.2.5)

        eCT_DIMENSION         
    };


    enum eVelocityProfile
    {
        eVP_INVALID = -1,  
        eVP_SIN_SQUARE,    
        eVP_RAMP,          

        eVP_DIMENSION      
    };

    //-----------------------------------------------------------------
    cSDHBase( int debug_level );


    //-----------------------------------------------------------------
    virtual ~cSDHBase()
    {}


    void CheckIndex( int index, int maxindex, char const* name="" )
        throw (cSDHErrorInvalidParameter*);


    void CheckRange( double value, double minvalue, double maxvalue, char const* name="" )
        throw (cSDHErrorInvalidParameter*);


    void CheckRange( double* values, double* minvalues, double* maxvalues, char const* name="" )
        throw (cSDHErrorInvalidParameter*);


    static char const* GetStringFromErrorCode( eErrorCode error_code );


    static char const* GetStringFromGraspId( eGraspId grasp_id );


    static char const* GetStringFromControllerType( eControllerType controller_type );


    int GetNumberOfAxes( void );


    int GetNumberOfFingers( void );


    int GetNumberOfTemperatureSensors( void );


    eErrorCode GetFirmwareState( void );


    double GetEps( void );


    cSimpleVector const & GetEpsVector( void );


    virtual bool IsOpen( void ) = 0;

    virtual void SetDebugOutput( std::ostream* debuglog )
    {
        cdbg.SetOutput( debuglog );
    }
protected:
    cDBG cdbg;

    int debug_level;

    static char const* firmware_error_codes[];


    static char const* grasp_id_name[];


    static char const* controller_type_name[];
    //---------------------

    int NUMBER_OF_AXES;

    int NUMBER_OF_FINGERS;

    int NUMBER_OF_TEMPERATURE_SENSORS;

    int all_axes_used;

    eErrorCode firmware_state;

    double eps;

    cSimpleVector eps_v;

    //cSimpleVector zeros_v;

    //cSimpleVector ones_v;

    cSimpleVector min_angle_v;

    cSimpleVector max_angle_v;

};

// end of class cSDHBase
//=====================================================================

NAMESPACE_SDH_END

#endif


//======================================================================
/*
  Here are some settings for the emacs/xemacs editor (and can be safely ignored):
  (e.g. to explicitely set C++ mode for *.h header files)

  Local Variables:
  mode:C++
  mode:ELSE
  End:
*/
//======================================================================