dsa.h

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//======================================================================
//======================================================================

#ifndef DSA_h_
#define DSA_h_

#include "sdhlibrary_settings.h"

//----------------------------------------------------------------------
// System Includes - include with <>
//----------------------------------------------------------------------

#include <assert.h>

//----------------------------------------------------------------------
// Project Includes - include with ""
//----------------------------------------------------------------------

#include "sdhexception.h"

#include "dbg.h"
#if SDH_USE_VCC
# include "rs232-vcc.h"
#else
# include "rs232-cygwin.h"
#endif
#include "simpletime.h"
#include "crc.h"

//----------------------------------------------------------------------
// Defines, enums, unions, structs
//----------------------------------------------------------------------

NAMESPACE_SDH_START

#define DSA_MAX_PREAMBLE_SEARCH (2*3*(6*(14+13)) + 16)

//----------------------------------------------------------------------
// Global variables (declarations)
//----------------------------------------------------------------------


//----------------------------------------------------------------------
// External functions (function declarations)
//----------------------------------------------------------------------


//----------------------------------------------------------------------
// Function prototypes (function declarations)
//----------------------------------------------------------------------


//----------------------------------------------------------------------
// Class declarations
//----------------------------------------------------------------------




class VCC_EXPORT cDSAException: public cSDHLibraryException
{
public:
  cDSAException( cMsg const & _msg )
    : cSDHLibraryException( "cDSAException", _msg )
  {}
};
//======================================================================


class VCC_EXPORT cDSA
{
 public:
    typedef UInt16 tTexel;

    enum eDSAErrorCode
    {
        E_SUCCESS,
        E_NOT_AVAILABLE,
        E_NO_SENSOR,
        E_NOT_INITIALIZED,
        E_ALREADY_RUNNING,
        E_FEATURE_NOT_SUPPORTED,
        E_INCONSISTENT_DATA,
        E_TIMEOUT,
        E_READ_ERROR,
        E_WRITE_ERROR,
        E_INSUFFICIENT_RESOURCES,
        E_CHECKSUM_ERROR,
        E_CMD_NOT_ENOUGH_PARAMS,
        E_CMD_UNKNOWN,
        E_CMD_FORMAT_ERROR,
        E_ACCESS_DENIED,
        E_ALREADY_OPEN,
        E_CMD_FAILED,
        E_CMD_ABORTED,
        E_INVALID_HANDLE,
        E_DEVICE_NOT_FOUND,
        E_DEVICE_NOT_OPENED,
        E_IO_ERROR,
        E_INVALID_PARAMETER,
        E_INDEX_OUT_OF_BOUNDS,
        E_CMD_PENDING,
        E_OVERRUN,
        E_RANGE_ERROR
    };


#if SDH_USE_VCC
#pragma pack(push,1)  // for VCC (MS Visual Studio) we have to set the necessary 1 byte packing with this pragma
#endif
    struct sControllerInfo
    {
        UInt16 error_code;
        UInt32 serial_no;
        UInt8  hw_version;
        UInt16 sw_version;
        UInt8  status_flags;
        UInt8  feature_flags;
        UInt8  senscon_type;
        UInt8  active_interface;
        UInt32 can_baudrate;
        UInt16 can_id;
    }   SDH__attribute__((__packed__)); // for gcc we have to set the necessary 1 byte packing with this attribute

    struct sSensorInfo
    {
        UInt16 error_code;
        UInt16 nb_matrices;
        UInt16 generated_by;
        UInt8  hw_revision;
        UInt32 serial_no;
        UInt8  feature_flags;
    } SDH__attribute__((__packed__)); // for gcc we have to set the necessary 1 byte packing with this attribute

    struct sMatrixInfo
    {
        UInt16 error_code;
        float  texel_width;
        float  texel_height;
        UInt16 cells_x;
        UInt16 cells_y;
        UInt8  uid[6];
        UInt8  reserved[2];
        UInt8  hw_revision;

        float  matrix_center_x;
        float  matrix_center_y;
        float  matrix_center_z;

        float  matrix_theta_x;
        float  matrix_theta_y;
        float  matrix_theta_z;
        float  fullscale;
        UInt8  feature_flags;
    } SDH__attribute__((__packed__)); // for gcc we have to set the necessary 1 byte packing with this attribute

    struct sSensitivityInfo
    {
        UInt16 error_code;  
        UInt8  adj_flags;   
        float  cur_sens;    
        float  fact_sens;   
    } SDH__attribute__((__packed__)); // for gcc we have to set the necessary 1 byte packing with this attribute

#if SDH_USE_VCC
#pragma pack(pop)   // for VCC (MS Visual Studio) restore normal packing
#endif


    struct VCC_EXPORT sTactileSensorFrame
    {
        UInt32  timestamp;  
        UInt8   flags;      
        tTexel* texel;      

        sTactileSensorFrame( void )
        {
            texel = NULL;
        }
    };

    struct sContactInfo
    {
        double force;  
        double area;   
        double cog_x;  
        double cog_y;  
    };

    bool m_read_another;

 protected:

#if SDH_USE_VCC
#pragma pack(push,1)    // for VCC (MS Visual Studio) we have to set the necessary 1 byte packing with this pragma
#endif
     struct sResponse {
        UInt8   packet_id;
        UInt16  size;
        UInt8*  payload;
        Int32   max_payload_size;

        sResponse( UInt8* _payload, int _max_payload_size )
        {
            payload = _payload;
            max_payload_size = _max_payload_size;
        }
    } SDH__attribute__((__packed__));  // for gcc we have to set the necessary 1 byte packing with this attribute
#if SDH_USE_VCC
#pragma pack(pop)   // for VCC (MS Visual Studio) restore normal packing
#endif

    friend VCC_EXPORT std::ostream &operator<<(std::ostream &stream, cDSA::sResponse const &response );

    cDBG dbg;

    cSerialBase* com;

    bool do_RLE;

    sControllerInfo controller_info;

    sSensorInfo     sensor_info;

    sMatrixInfo*    matrix_info;

    sTactileSensorFrame frame;

    int nb_cells;

    int* texel_offset;

    long read_timeout_us;

    cSimpleTime start_pc;
    UInt32      start_dsa;

    tTexel contact_area_cell_threshold;

    tTexel contact_force_cell_threshold;

    double force_factor;


    double calib_pressure;  // N/(mm*mm)
    double calib_voltage;   // "what the DSA reports:" ~mV


    void WriteCommandWithPayload( UInt8 command, UInt8* payload, UInt16 payload_len );

    inline void WriteCommand( UInt8 command )
    {
        WriteCommandWithPayload( command, NULL, 0 );
    }
    //----------------------------------------------------------------------

    void ReadResponse( sResponse* response, UInt8 command_id );

    void ReadControllerInfo( sControllerInfo* _controller_info );


    void ReadSensorInfo( sSensorInfo* _sensor_info );


    void ReadMatrixInfo( sMatrixInfo* _matrix_info  );


    void ReadFrame( sTactileSensorFrame* frame_p  );


    void QueryControllerInfo( sControllerInfo* _controller_info  );


    void QuerySensorInfo( sSensorInfo* _sensor_info );


    void QueryMatrixInfo( sMatrixInfo* _matrix_info, int matrix_no );


    void QueryMatrixInfos( void );


    void ParseFrame( sResponse* response, sTactileSensorFrame* frame_p );


 public:
    cDSA( int debug_level=0, int port=1, char const* device_format_string="/dev/ttyS%d" );

    cDSA( int debug_level, char const* _tcp_adr, int _tcp_port=13000, double _timeout=1.0 );


    ~cDSA();


    inline sControllerInfo const & GetControllerInfo( void ) const
    {
        return controller_info;
    }
    //-----------------------------------------------------------------

    inline sSensorInfo const & GetSensorInfo( void ) const
    {
        return sensor_info;
    }
    //-----------------------------------------------------------------

    inline sMatrixInfo const & GetMatrixInfo( int m ) const
    {
        assert( 0 <= m  &&  m <= (int ) sensor_info.nb_matrices );
        return matrix_info[m];
    }
    //-----------------------------------------------------------------

    inline sTactileSensorFrame const & GetFrame() const
    {
        return frame;
    }
    //-----------------------------------------------------------------

    inline sTactileSensorFrame const & UpdateFrame()
    {
        ReadFrame( &frame );
        return frame;
    }
    //-----------------------------------------------------------------

    void Open(void);

    void Close(void);


    void SetFramerate( UInt16 framerate, bool do_RLE=true, bool do_data_acquisition=true );

    void SetFramerateRetries( UInt16 framerate, bool do_RLE=true, bool do_data_acquisition=true, unsigned int retries=0, bool ignore_exceptions=false );


    sSensitivityInfo GetMatrixSensitivity( int matrix_no );


    void SetMatrixSensitivity( int matrix_no,
                               double sensitivity,
                               bool do_all_matrices=false,
                               bool do_reset=false,
                               bool do_persistent=false );


    void SetMatrixThreshold( int matrix_no,
                             UInt16 threshold,
                             bool do_all_matrices=false,
                             bool do_reset=false,
                             bool do_persistent=false );

    UInt16 GetMatrixThreshold( int matrix_no );

    tTexel GetTexel( int m, int x, int y ) const;



    inline int GetMatrixIndex( int fi, int part )
    {
        return fi * 2 + part;
    }


    inline unsigned long GetAgeOfFrame( sTactileSensorFrame* frame_p )
    {
        return ((unsigned long) (start_pc.Elapsed()*1000.0)) - (frame_p->timestamp - start_dsa);
    }

    double GetContactArea( int m );

 private:
    double VoltageToPressure( double voltage );

    void ReadAndCheckErrorResponse( char const* msg, UInt8 command_id );

    void Init( int debug_level );


 public:
    sContactInfo GetContactInfo( int m );


    static char const* ErrorCodeToString( eDSAErrorCode error_code );
    static char const* ErrorCodeToString( UInt16 error_code )
    {
        return ErrorCodeToString( (eDSAErrorCode) error_code );
    }

 private:
     bool acquiring_single_frame;

     void FlushInput( long timeout_us_first, long timeout_us_subsequent );
}; // end of class cDSA
//----------------------------------------------------------------------
//----------------------------------------------------------------------


VCC_EXPORT std::ostream &operator<<( std::ostream &stream,  cDSA::sControllerInfo const &controller_info );


VCC_EXPORT std::ostream &operator<<( std::ostream &stream,  cDSA::sSensorInfo const &sensor_info );


VCC_EXPORT std::ostream &operator<<( std::ostream &stream,  cDSA::sMatrixInfo const &matrix_info );


VCC_EXPORT std::ostream &operator<<( std::ostream &stream,  cDSA::sResponse const &response );


VCC_EXPORT std::ostream &operator<<( std::ostream &stream,  cDSA const &dsa );


NAMESPACE_SDH_END

#endif


//======================================================================
/*
{
  Here are some settings for the emacs/xemacs editor (and can be safely ignored):
  (e.g. to explicitely set C++ mode for *.h header files)

  Local Variables:
  mode:C
  mode:ELSE
  End:
}
*/
//======================================================================}