SVHFingerManager.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK SVH Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2014 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2014 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef DRIVER_SVH_SVH_FINGER_MANAGER_H_INCLUDED
#define DRIVER_SVH_SVH_FINGER_MANAGER_H_INCLUDED

#include <driver_svh/ImportExport.h>
#include <driver_svh/SVHController.h>
#include <driver_svh/SVHFeedbackPollingThread.h>
#include <driver_svh/SVHPositionSettings.h>
#include <driver_svh/SVHCurrentSettings.h>
#include <driver_svh/SVHHomeSettings.h>

#include <boost/shared_ptr.hpp>


#ifdef _IC_BUILDER_ICL_COMM_WEBSOCKET_
#include <icl_comm_websocket/WsBroadcaster.h>
#else
// Forward Deklaration of the WsBroadcaster
// This is not needed for normal driver operation
// but might be added later. To keep the interface the same
// a forward declaration becomes necessary
namespace icl_comm{
namespace websocket{
  class WsBroadcaster;
}}// NS end
#endif // _IC_BUILDER_ICL_COMM_WEBSOCKET_




namespace driver_svh {

class DRIVER_SVH_IMPORT_EXPORT SVHFingerManager
{
public:

  enum MovementState
  {
    eST_DEACTIVATED,
    eST_RESETTING,
    eST_RESETTED,
    eST_ENABLED,
    eST_PARTIALLY_ENABLED,
    eST_FAULT,
    eST_DIMENSION
  };

  enum Hints
  {
    eHT_DEVICE_NOT_FOUND,   /* ttyUSBx could not be found */
    eHT_CONNECTION_FAILED,  /* ttyUSB could be opened but communication failed */
    eHT_NOT_RESETTED,       /* the fingers of the hand are not resetted */
    eHT_NOT_CONNECTED,      /* simply never called connect */
    eHT_RESET_FAILED,       /* timeout during reset -> this is a serious failure */
    eHT_CHANNEL_SWITCHED_OF,/* Not realy a problem, however a hint worth noting */
    eHT_DANGEROUS_CURRENTS, /* Current Values are set to dangerous levels */
    eHT_DIMENSION           /* dummy entry indicating the size, not used as status */
  };

  SVHFingerManager(const std::vector<bool> &disable_mask = std::vector<bool>(9,false), const uint32_t &reset_timeout = 5);

  virtual ~SVHFingerManager();

  bool connect(const std::string &dev_name = "/dev/ttyUSB0",const unsigned int &_retry_count = 3);

  void disconnect();

  bool isConnected() { return m_connected; }

  bool resetChannel(const SVHChannel &channel);

  bool enableChannel(const SVHChannel &channel);

  void disableChannel(const SVHChannel &channel);

  bool requestControllerFeedbackAllChannels();

  bool requestControllerFeedback(const SVHChannel &channel);

  bool getPosition(const SVHChannel &channel, double &position);

  bool getCurrent(const SVHChannel &channel, double &current);


  bool setAllTargetPositions(const std::vector<double>& positions);

  bool setTargetPosition(const SVHChannel &channel, double position, double current);

  bool isEnabled(const SVHChannel &channel);

  bool isHomed(const SVHChannel &channel);

  void setMovementState(const MovementState &state);


  void requestControllerState();

  bool getCurrentSettings(const SVHChannel &channel, SVHCurrentSettings &current_settings);

  bool getPositionSettings(const SVHChannel &channel, SVHPositionSettings &position_settings);


  bool setCurrentSettings(const SVHChannel &channel, const SVHCurrentSettings &current_settings);

  bool setPositionSettings(const SVHChannel &channel, const SVHPositionSettings &position_settings);

  bool setHomeSettings(const SVHChannel &channel,const SVHHomeSettings& home_settings);



  // These 3 functions could be private but where made public for printing and debug purposes. As there is no harm to it it should not be a problem

  std::vector<SVHCurrentSettings> getDefaultCurrentSettings();

  std::vector<SVHPositionSettings> getDefaultPositionSettings(const bool& reset = false);

  void setDefaultHomeSettings();

  void setResetSpeed(const float& speed);

  void setResetTimeout(const int& resetTimeout);

  SVHFirmwareInfo getFirmwareInfo();


  #ifdef _IC_BUILDER_ICL_COMM_WEBSOCKET_

  void updateWebSocket();

  void receivedHintMessage(const int &hint);

  #endif // _IC_BUILDER_ICL_COMM_WEBSOCKET_

// ----------------------------------------------------------------------
// ---- private functions and varaibles
// ----------------------------------------------------------------------

private:

  boost::shared_ptr<icl_comm::websocket::WsBroadcaster> m_ws_broadcaster;

  SVHController *m_controller;

  SVHFeedbackPollingThread *m_feedback_thread;

  bool m_connected;

  bool m_connection_feedback_given;

  int8_t m_homing_timeout;

  std::vector<double> m_ticks2rad;

  std::vector<int32_t> m_position_min;

  std::vector<int32_t> m_position_max;

  std::vector<int32_t> m_position_home;

  std::vector<bool> m_is_homed;

  std::vector<bool> m_is_switched_off;

  MovementState m_movement_state;

  float m_reset_speed_factor;

  uint32_t m_reset_timeout;

  std::vector<SVHCurrentSettings> m_current_settings;
  std::vector<bool> m_current_settings_given;

  std::vector<SVHPositionSettings> m_position_settings;
  std::vector<bool> m_position_settings_given;

  std::vector<SVHHomeSettings> m_home_settings;

  std::string m_serial_device;

  std::vector<SVHChannel> m_reset_order;

  std::vector<double> m_reset_current_factor;

  int32_t convertRad2Ticks(const SVHChannel &channel,const double &position);

  double convertTicks2Rad(const SVHChannel &channel, const int32_t &ticks);

  bool isInsideBounds(const SVHChannel &channel, const int32_t &target_position);

  bool currentSettingsAreSafe(const SVHChannel &channel,const SVHCurrentSettings &current_settings);

  // DEBUG
  SVHControllerFeedback debug_feedback;


};

}

#endif