sr_joint_motor.hpp

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#ifndef SR_JOINT_MOTOR_HPP_
#define SR_JOINT_MOTOR_HPP_

#include <sr_hardware_interface/sr_actuator.hpp>

#include <sr_utilities/sr_math_utils.hpp>
#include <sr_utilities/calibration.hpp>
#include <sr_utilities/thread_safe_map.hpp>


namespace shadow_joints
{
  struct PartialJointToSensor
  {
    int sensor_id;
    double coeff;
  };

  struct JointToSensor
  {
    std::vector<std::string> sensor_names;
    std::vector<PartialJointToSensor> joint_to_sensor_vector;
    bool calibrate_after_combining_sensors;
  };

  struct JointToMuscle
  {
    int muscle_driver_id[2];
    int muscle_id[2];
  };

  class SrActuatorWrapper
  {
  public:
    SrActuatorWrapper()
        : actuator(NULL), actuator_ok(false), bad_data(false) {}
    
    ~SrActuatorWrapper() {}

    //actuator
    sr_actuator::SrGenericActuator* actuator;

    bool actuator_ok;
    bool bad_data;
  };

  class MotorWrapper : public SrActuatorWrapper
  {
  public:
    MotorWrapper()
        : SrActuatorWrapper(), motor_id(0), msg_motor_id(0) {}

    ~MotorWrapper() {}

    //the position of the motor in the motor array
    // coming from the hardware
    int motor_id;

    //the position of the motor in the message array
    int msg_motor_id;

    ros::ServiceServer force_pid_service;

    ros::ServiceServer reset_motor_service;
  };

  class MuscleDriver
  {
  public:
    MuscleDriver(int id=0)
      : muscle_driver_id(id),
        can_msgs_received_(0),
        can_msgs_transmitted_(0),
        pic_firmware_svn_revision_(0),
        server_firmware_svn_revision_(0),
        firmware_modified_(0),
        serial_number(0),
        assembly_date_year(0),
        assembly_date_month(0),
        assembly_date_day(0),
        can_err_tx(0),
        can_err_rx(0),
        driver_ok(false),
        bad_data(false)
    {}

    ~MuscleDriver() {}

    int muscle_driver_id;
    unsigned int pic_firmware_svn_revision_;
    unsigned int server_firmware_svn_revision_;
    bool firmware_modified_;
    unsigned int serial_number;
    unsigned int assembly_date_year;
    unsigned int assembly_date_month;
    unsigned int assembly_date_day;

    unsigned int        can_err_tx;
    unsigned int        can_err_rx;
    uint64_t              can_msgs_transmitted_;
    uint64_t              can_msgs_received_;

    bool driver_ok;
    bool bad_data;

    ros::ServiceServer reset_driver_service;
  };

  class MuscleWrapper : public SrActuatorWrapper
  {
  public:
    MuscleWrapper()
        : SrActuatorWrapper()
    {
      muscle_id[0] = 0;
      muscle_id[1] = 0;
      muscle_driver_id[0] = 0;
      muscle_driver_id[1] = 0;
    }

    ~MuscleWrapper() {}

    int muscle_driver_id[2];
    int muscle_id[2];
  };

  struct Joint
  {
    std::string joint_name;

    //the indexes of the joints in the joint array
    // coming from the hardware which are used to
    // compute the joint data.
    JointToSensor joint_to_sensor;

    //used to filter the position and the velocity
    sr_math_utils::filters::LowPassFilter pos_filter;
    //used to filter the effort
    sr_math_utils::filters::LowPassFilter effort_filter;

    bool has_actuator;
    boost::shared_ptr<SrActuatorWrapper> actuator_wrapper;
  };

  typedef threadsafe::Map<boost::shared_ptr<shadow_robot::JointCalibration> > CalibrationMap;
}

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

#endif /* SR_JOINT_MOTOR_HPP_ */