generic_tactiles.cpp

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#include "sr_robot_lib/generic_tactiles.hpp"
#include <sr_utilities/sr_math_utils.hpp>
#include <cctype>
#include <string>
#include <vector>

// NOTE: The length used in this generic tactile class (that is used to obtain common information to determine
// the actual type of tactile sensors)
// should be the the minimum length of all the existing types of tactile sensors
// (this is used only to sanitise_string for certain data types)
#define TACTILE_DATA_LENGTH_BYTES TACTILE_DATA_LENGTH_BYTES_v1

namespace tactiles
{
  template<class StatusType, class CommandType>
  const unsigned int GenericTactiles<StatusType, CommandType>::nb_tactiles = 5;

  template<class StatusType, class CommandType>
  GenericTactiles<StatusType,
          CommandType>::GenericTactiles(ros::NodeHandle nh, std::string device_id,
                                        std::vector<generic_updater::UpdateConfig> update_configs_vector,
                                        operation_mode::device_update_state::DeviceUpdateState update_state)
          : nodehandle_(nh),
            device_id_(device_id)
  {
    sensor_updater = boost::shared_ptr<generic_updater::SensorUpdater<CommandType> >(
            new generic_updater::SensorUpdater<CommandType>(update_configs_vector, update_state));
    if (update_state != operation_mode::device_update_state::INITIALIZATION)
    {
      reset_service_client_ = nodehandle_.advertiseService("tactiles/reset", &GenericTactiles::reset, this);
    }

    // initialize the vector of tactiles
    tactiles_vector = boost::shared_ptr<std::vector<GenericTactileData> >(
            new std::vector<GenericTactileData>(nb_tactiles));
    all_tactile_data = boost::shared_ptr<std::vector<AllTactileData> >(new std::vector<AllTactileData>(nb_tactiles));

    for (unsigned int i = 0; i < nb_tactiles; i++)
    {
      GenericTactileData tmp_pst;
      tactiles_vector->push_back(tmp_pst);
    }
  }

  template<class StatusType, class CommandType>
  void GenericTactiles<StatusType, CommandType>::update(StatusType *status_data)
  {
    int tactile_mask = static_cast<int16u>(status_data->tactile_data_valid);
    // @todo use memcopy instead?
    for (unsigned int id_sensor = 0; id_sensor < nb_tactiles; ++id_sensor)
    {
      ROS_DEBUG_STREAM(" received: " << static_cast<int32u>(status_data->tactile_data_type));

      switch (static_cast<int32u>(status_data->tactile_data_type))
      {
        // COMMON DATA
        case TACTILE_SENSOR_TYPE_WHICH_SENSORS:
          if (sr_math_utils::is_bit_mask_index_true(tactile_mask, id_sensor))
          {
            if (tactiles_vector != NULL)
            {
              tactiles_vector->at(id_sensor).which_sensor =
                      static_cast<unsigned int>(static_cast<int16u>(status_data->tactile[id_sensor].word[0]));
            }
            ROS_DEBUG_STREAM(" tact[" << id_sensor << "] = " << tactiles_vector->at(id_sensor).which_sensor);
          }
          break;

        case TACTILE_SENSOR_TYPE_SAMPLE_FREQUENCY_HZ:
          if (sr_math_utils::is_bit_mask_index_true(tactile_mask, id_sensor))
          {
            if (tactiles_vector != NULL)
            {
              tactiles_vector->at(id_sensor).sample_frequency =
                      static_cast<unsigned int>(static_cast<int16u>(status_data->tactile[id_sensor].word[0]));
            }
          }
          break;

        case TACTILE_SENSOR_TYPE_MANUFACTURER:
        {
          if (sr_math_utils::is_bit_mask_index_true(tactile_mask, id_sensor))
          {
            tactiles_vector->at(id_sensor).manufacturer = sanitise_string(status_data->tactile[id_sensor].string,
                                                                          TACTILE_DATA_LENGTH_BYTES);
          }
        }
          break;

        case TACTILE_SENSOR_TYPE_SERIAL_NUMBER:
        {
          if (sr_math_utils::is_bit_mask_index_true(tactile_mask, id_sensor))
          {
            tactiles_vector->at(id_sensor).serial_number = sanitise_string(status_data->tactile[id_sensor].string,
                                                                           TACTILE_DATA_LENGTH_BYTES);
          }
        }
          break;

        case TACTILE_SENSOR_TYPE_SOFTWARE_VERSION:
          if (sr_math_utils::is_bit_mask_index_true(tactile_mask, id_sensor))
          {
            if (tactiles_vector != NULL)
            {
              tactiles_vector->at(id_sensor).set_software_version(status_data->tactile[id_sensor].string);
            }
          }
          break;

        case TACTILE_SENSOR_TYPE_PCB_VERSION:
          if (sr_math_utils::is_bit_mask_index_true(tactile_mask, id_sensor))
          {
            if (tactiles_vector != NULL)
            {
              tactiles_vector->at(id_sensor).pcb_version = sanitise_string(status_data->tactile[id_sensor].string,
                                                                           TACTILE_DATA_LENGTH_BYTES);
            }
          }
          break;

        default:
          break;
      }  // end switch
    }  // end for tactile

    if (sensor_updater->update_state == operation_mode::device_update_state::INITIALIZATION)
    {
      process_received_data_type(static_cast<int32u>(status_data->tactile_data_type));
      if (sensor_updater->initialization_configs_vector.size() == 0)
      {
        sensor_updater->update_state = operation_mode::device_update_state::OPERATION;
      }
    }
  }

  template<class StatusType, class CommandType>
  void GenericTactiles<StatusType, CommandType>::process_received_data_type(int32u data)
  {
    unsigned int i;
    for (i = 0; i < sensor_updater->initialization_configs_vector.size(); i++)
    {
      if (sensor_updater->initialization_configs_vector[i].what_to_update == data)
      {
        break;
      }
    }
    if (i < sensor_updater->initialization_configs_vector.size())
    {
      sensor_updater->initialization_configs_vector.erase(sensor_updater->initialization_configs_vector.begin() + i);
    }
  }

  template<class StatusType, class CommandType>
  void GenericTactiles<StatusType, CommandType>::publish()
  {
    // We don't publish anything during the initialization phase
  }  // end publish

  template<class StatusType, class CommandType>
  void GenericTactiles<StatusType, CommandType>::add_diagnostics(std::vector<diagnostic_msgs::DiagnosticStatus> &vec,
                                                                 diagnostic_updater::DiagnosticStatusWrapper &d)
  {
    // We don't publish diagnostics during the initialization phase
  }

  template<class StatusType, class CommandType>
  bool GenericTactiles<StatusType, CommandType>::reset(std_srvs::Empty::Request &request,
                                                       std_srvs::Empty::Response &response)
  {
    ROS_INFO_STREAM("Resetting tactiles");

    return sensor_updater->reset();
  }

  template<class StatusType, class CommandType>
  std::string GenericTactiles<StatusType, CommandType>::sanitise_string(const char *raw_string,
                                                                        const unsigned int str_size)
  {
    std::string sanitised_string = "";
    for (unsigned int i = 0; i < str_size; ++i)
    {
      char tmp = static_cast<char>(raw_string[i]);
      if (tmp != 0)
      {
        if (tmp >= '\x20' && tmp <= '\x7E')
        {
          sanitised_string += static_cast<char>(raw_string[i]);
        }
        else
        {
          sanitised_string += '?';
        }
      }
      else
      {
        break;
      }
    }
    return sanitised_string;
  }

  template<class StatusType, class CommandType>
  std::vector<AllTactileData> *GenericTactiles<StatusType, CommandType>::get_tactile_data()
  {
    return all_tactile_data.get();
  }

  // Only to ensure that the template class is compiled for the types we are interested in
  template
  class GenericTactiles<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND>;

  template
  class GenericTactiles<ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND>;

  template
  class GenericTactiles<ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND>;
}  // namespace tactiles

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