motor_updater.hpp

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/*
* @file   motor_updater.hpp
* @author Ugo Cupcic <ugo@shadowrobot.com>, <contact@shadowrobot.com>
* @date   Tue Jun  7 09:15:21 2011
*
*
/* Copyright 2011 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
*
* @brief  This contains a class used to determin which data we should ask the motor for,
* depending on the config we're using.
*
*
*/

#ifndef _MOTOR_UPDATER_HPP_
#define _MOTOR_UPDATER_HPP_

#include <ros/ros.h>
#include <vector>
#include <list>
#include <queue>
#include <boost/smart_ptr.hpp>
#include "sr_robot_lib/generic_updater.hpp"

#include <sr_external_dependencies/types_for_external.h>

extern "C"
{
#include <sr_external_dependencies/external/0220_palm_edc/0220_palm_edc_ethercat_protocol.h>
#include <sr_external_dependencies/external/0240_palm_edc_IMU/0240_palm_edc_IMU_ethercat_protocol.h>
}

namespace generic_updater
{
/*
* The Motor Updater builds the next command we want to send to the hand.
* We can ask for different types of data at different rates. The data and
* their rates are defined in the sr_ethercat_hand_config/rates/motor_data_polling.yaml
* The important data are refreshed as often as possible (they have a -1. refresh
* rate in the config file).
*
* The unimportant data are refreshed at their given rate (the value is defined in
* the config in seconds).
*/
template<class CommandType>
class MotorUpdater :
        public GenericUpdater<CommandType>
{
public:
  MotorUpdater(std::vector<UpdateConfig> update_configs_vector,
               operation_mode::device_update_state::DeviceUpdateState update_state);

  /*
   * Building the motor initialization command. This function is called at each packCommand() call.
   * It builds initialization commands if the update state is operation_mode::device_update_state::INITIALIZATION.
   *
   * @param command The command which will be sent to the motor.
   * @return the current update state of the motor update
   */
  operation_mode::device_update_state::DeviceUpdateState build_init_command(CommandType *command);

  /*
   * Building the motor command. This function is called at each packCommand() call.
   * If an unimportant data is waiting then we send it, otherwise, we send the next
   * important data.
   *
   * @param command The command which will be sent to the motor.
   * @return the current update state of the motor update
   */
  operation_mode::device_update_state::DeviceUpdateState build_command(CommandType *command);

private:
  // are we sending the command to the even or the uneven motors.
  int even_motors;
};
}  // namespace generic_updater


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

#endif