SVHController.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_CONTROLLER_H_INCLUDED
#define DRIVER_SVH_SVH_CONTROLLER_H_INCLUDED

#include <driver_svh/ImportExport.h>
#include <driver_svh/SVHSerialInterface.h>
#include <driver_svh/SVHReceiveThread.h>
#include <driver_svh/SVHControlCommand.h>
#include <driver_svh/SVHControllerFeedback.h>
#include <driver_svh/SVHCurrentSettings.h>
#include <driver_svh/SVHFirmwareInfo.h>
#include <driver_svh/SVHPositionSettings.h>
#include <driver_svh/SVHControllerState.h>
#include <driver_svh/SVHEncoderSettings.h>

namespace driver_svh {

enum{
  eSVH_ALL = -1,   // this should be used with care as not all functions support it yet
  eSVH_THUMB_FLEXION = 0,
  eSVH_THUMB_OPPOSITION, // wrist
  eSVH_INDEX_FINGER_DISTAL,
  eSVH_INDEX_FINGER_PROXIMAL,
  eSVH_MIDDLE_FINGER_DISTAL,
  eSVH_MIDDLE_FINGER_PROXIMAL,
  eSVH_RING_FINGER,
  eSVH_PINKY,
  eSVH_FINGER_SPREAD,
  eSVH_DIMENSION //9
} typedef SVHChannel;

class DRIVER_SVH_IMPORT_EXPORT SVHController
{
public:
  SVHController();

  ~SVHController();

  bool connect(const std::string &dev_name);

  void disconnect();

  void setControllerTarget(const SVHChannel& channel, const int32_t &position);

  void setControllerTargetAllChannels(const std::vector<int32_t>& positions);


  // Access functions
  void enableChannel(const SVHChannel& channel);

  void disableChannel(const SVHChannel& channel);

  void requestControllerState();

  void requestControllerFeedback(const SVHChannel& channel);

  void requestPositionSettings(const SVHChannel& channel);

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

  void requestCurrentSettings(const SVHChannel& channel);

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

  void requestEncoderValues();

  void setEncoderValues(const SVHEncoderSettings& encoder_settings);


  void requestFirmwareInfo();

  void receivedPacketCallback(const SVHSerialPacket& packet, unsigned int packet_count);

   bool getControllerFeedback(const SVHChannel &channel,SVHControllerFeedback& controller_feedback);

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

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

   SVHFirmwareInfo getFirmwareInfo();

   unsigned int getSentPackageCount();

   unsigned int getReceivedPackageCount();

   void resetPackageCounts();

   bool isEnabled(const SVHChannel &channel);

   static const char * m_channel_description[];

   static const float channel_effort_constants[9];

   void getControllerFeedbackAllChannels(SVHControllerFeedbackAllChannels &controller_feedback);
private:

  // Data Structures for holding configurations and feedback of the Controller

  std::vector<SVHCurrentSettings> m_current_settings;

  std::vector<SVHPositionSettings> m_position_settings;

  std::vector<SVHControllerFeedback> m_controller_feedback;

  SVHControllerState m_controller_state;

  SVHEncoderSettings m_encoder_settings;

  SVHFirmwareInfo m_firmware_info;

  // Hardware control

  SVHSerialInterface * m_serial_interface;

  uint16_t m_enable_mask;

  unsigned int m_received_package_count;




};

}

#endif