YouBotSlaveMsg.hpp

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/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
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#ifndef _YOUBOT_SLAVE_MESSAGE_H
#define _YOUBOT_SLAVE_MESSAGE_H

#include "youbot_driver/generic/dataobjectlockfree/DataObjectLockFree.hpp"
#include <youbot_driver/soem/ethercattype.h>
#include <string>
#include <time.h>

namespace youbot {


        PACKED_BEGIN
        struct SlaveMessageOutput {
                int32 value;
                uint8 controllerMode;
                SlaveMessageOutput():value(0),controllerMode(0) { };
        } PACKED;
        PACKED_END



        PACKED_BEGIN
        struct SlaveMessageInput {
                int32 actualPosition;   // encoder ticks
                int32 actualCurrent;    // mA
                int32 actualVelocity;   // rpm motor axis
                uint32 errorFlags;
                int32 targetPosition;
                int32 targetCurrent;
                int32 targetVelocity;
                int32 rampGeneratorVelocity;

                SlaveMessageInput():
                actualPosition(0),actualCurrent(0),actualVelocity(0),
                errorFlags(0),targetPosition(0),targetCurrent(0),
                targetVelocity(0),rampGeneratorVelocity(0) { };
        } PACKED;
        PACKED_BEGIN

        class YouBotSlaveMsg {
        public:


                SlaveMessageOutput stctOutput;
                SlaveMessageInput stctInput;
                unsigned int jointNumber;

                // Constructor

                YouBotSlaveMsg() {
                        jointNumber = 0;
                }

                // Copy-Constructor

                YouBotSlaveMsg(const YouBotSlaveMsg &copy) {
                        stctOutput = copy.stctOutput;
                        stctInput = copy.stctInput;
                        jointNumber = copy.jointNumber;
                }

                // Destructor

                ~YouBotSlaveMsg() {
                }

                // assignment operator

                YouBotSlaveMsg & operator=(const YouBotSlaveMsg &copy) {
                        stctOutput = copy.stctOutput;
                        stctInput = copy.stctInput;
                        jointNumber = copy.jointNumber;
                        return *this;
                }
        };
  
        class YouBotSlaveMsgThreadSafe {
        public:


                DataObjectLockFree<SlaveMessageOutput> stctOutput;
                DataObjectLockFree<SlaveMessageInput> stctInput;
                DataObjectLockFree<unsigned int> jointNumber;

                // Constructor
                YouBotSlaveMsgThreadSafe() {
                        jointNumber.Set(0);
                }

    
                // Copy-Constructor
                YouBotSlaveMsgThreadSafe(const YouBotSlaveMsgThreadSafe &copy) {
      SlaveMessageOutput tempOutput;
      SlaveMessageInput tempInput;
      unsigned int tempjointNo;
      
      copy.stctOutput.Get(tempOutput);
                        stctOutput.Set(tempOutput);
      
      copy.stctInput.Get(tempInput);
                        stctInput.Set(tempInput);
              
      copy.jointNumber.Get(tempjointNo);
                        jointNumber.Set(tempjointNo);
                }

                // Destructor
                ~YouBotSlaveMsgThreadSafe() {
                }

                // assignment operator
                YouBotSlaveMsgThreadSafe & operator=(const YouBotSlaveMsgThreadSafe &copy) {
                        SlaveMessageOutput tempOutput;
      SlaveMessageInput tempInput;
      unsigned int tempjointNo;
      
      copy.stctOutput.Get(tempOutput);
                        stctOutput.Set(tempOutput);
      
      copy.stctInput.Get(tempInput);
                        stctInput.Set(tempInput);
              
      copy.jointNumber.Get(tempjointNo);
                        jointNumber.Set(tempjointNo);

                        return *this;
                }
 
        };

} // namespace youbot

#endif  /* _YOUBOT_SLAVE_MESSAGE_H */