sensor_updater.cpp

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#include "sr_robot_lib/sensor_updater.hpp"
#include <boost/foreach.hpp>
#include <iostream>

namespace generic_updater
{
  template <class CommandType>
  SensorUpdater<CommandType>::SensorUpdater(std::vector<UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state)
    : GenericUpdater<CommandType>(update_configs_vector, update_state)
  {
  }

  template <class CommandType>
  SensorUpdater<CommandType>::~SensorUpdater()
  {
  }

  template <class CommandType>
  operation_mode::device_update_state::DeviceUpdateState SensorUpdater<CommandType>::build_init_command(CommandType* command)
  {
    if(!this->mutex->try_lock())
      return this->update_state;

    if (this->update_state == operation_mode::device_update_state::INITIALIZATION)
    {
      if(this->initialization_configs_vector.size()>0)
      {
        // First we ask for the next data we want to receive

        this->which_data_to_request ++;

        if( this->which_data_to_request >= this->initialization_configs_vector.size() )
          this->which_data_to_request = 0;

        //initialization data
        command->tactile_data_type = this->initialization_configs_vector[this->which_data_to_request].what_to_update;
        ROS_DEBUG_STREAM("Updating sensor initialization data type: "<<command->tactile_data_type << " | ["<<this->which_data_to_request<<"/"<<this->initialization_configs_vector.size()<<"] ");
      }
    }
    else
    {
      //For the last message sent when a change of update_state happens (after that we use build_command instead of build_init_command)
      //we use the TACTILE_SENSOR_TYPE_WHICH_SENSORS message, which is supposed to be always implemented
      //This is to avoid sending a random command (initialization_configs_vector is empty at this time)
      ROS_DEBUG_STREAM("Important data size: "<<this->important_update_configs_vector.size());


      command->tactile_data_type = TACTILE_SENSOR_TYPE_WHICH_SENSORS;
      ROS_DEBUG_STREAM("Updating sensor initialization data type: "<<command->tactile_data_type << " | ["<<this->which_data_to_request<<"/"<<this->important_update_configs_vector.size()<<"] ");
    }
    this->mutex->unlock();

    return this->update_state;
  }

  template <class CommandType>
  operation_mode::device_update_state::DeviceUpdateState SensorUpdater<CommandType>::build_command(CommandType* command)
  {
    if(!this->mutex->try_lock())
      return this->update_state;

    // First we ask for the next data we want to receive

    this->which_data_to_request ++;

    if( this->which_data_to_request >= this->important_update_configs_vector.size() )
      this->which_data_to_request = 0;

    if(!this->unimportant_data_queue.empty())
    {
      //an unimportant data is available
      command->tactile_data_type = this->unimportant_data_queue.front();
      this->unimportant_data_queue.pop();

      ROS_DEBUG_STREAM("Updating sensor unimportant data type: "<<command->tactile_data_type << " | queue size: "<<this->unimportant_data_queue.size());
    }
    else
    {
      //important data to update as often as possible
      command->tactile_data_type = this->important_update_configs_vector[this->which_data_to_request].what_to_update;
      ROS_DEBUG_STREAM("Updating sensor important data type: "<<command->tactile_data_type << " | ["<<this->which_data_to_request<<"/"<<this->important_update_configs_vector.size()<<"] ");
    }

    this->mutex->unlock();

    return this->update_state;
  }

  template <class CommandType>
  bool SensorUpdater<CommandType>::reset()
  {
    //We need to send the reset command twice in a row to make sure
    // the tactiles are reset.
    boost::mutex::scoped_lock l(*(this->mutex));
    for( unsigned int i=0; i<2 ; ++i)
      this->unimportant_data_queue.push(TACTILE_SENSOR_TYPE_RESET_COMMAND);
    return true;
  }

  //Only to ensure that the template class is compiled for the types we are interested in
  template class SensorUpdater<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND>;
  template class SensorUpdater<ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND>;
  template class SensorUpdater<ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND>;
}




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