ThermoLimiter.h

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// -*- C++ -*-
#ifndef THERMO_LIMITER_SERVICE_H
#define THERMO_LIMITER_SERVICE_H

#include <rtm/idl/BasicDataType.hh>
#include <rtm/Manager.h>
#include <rtm/DataFlowComponentBase.h>
#include <rtm/CorbaPort.h>
#include <rtm/DataInPort.h>
#include <rtm/DataOutPort.h>
#include <rtm/idl/BasicDataTypeSkel.h>

#include <hrpModel/Body.h>
#include <hrpModel/Link.h>
#include <hrpModel/JointPath.h>

#include "../ThermoEstimator/MotorHeatParam.h"

// Service implementation headers
// <rtc-template block="service_impl_h">
#include "ThermoLimiterService_impl.h"
#include "../SoftErrorLimiter/beep.h"

// </rtc-template>

// Service Consumer stub headers
// <rtc-template block="consumer_stub_h">

// </rtc-template>

using namespace RTC;

class ThermoLimiter
  : public RTC::DataFlowComponentBase
{
 public:
  ThermoLimiter(RTC::Manager* manager);
  virtual ~ThermoLimiter();

  // The initialize action (on CREATED->ALIVE transition)
  // formaer rtc_init_entry()
  virtual RTC::ReturnCode_t onInitialize();

  // The finalize action (on ALIVE->END transition)
  // formaer rtc_exiting_entry()
  // virtual RTC::ReturnCode_t onFinalize();

  // The startup action when ExecutionContext startup
  // former rtc_starting_entry()
  // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);

  // The shutdown action when ExecutionContext stop
  // former rtc_stopping_entry()
  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);

  // The activated action (Active state entry action)
  // former rtc_active_entry()
  virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);

  // The deactivated action (Active state exit action)
  // former rtc_active_exit()
  virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);

  // The execution action that is invoked periodically
  // former rtc_active_do()
  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);

  // The aborting action when main logic error occurred.
  // former rtc_aborting_entry()
  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);

  // The error action in ERROR state
  // former rtc_error_do()
  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);

  // The reset action that is invoked resetting
  // This is same but different the former rtc_init_entry()
  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);

  // The state update action that is invoked after onExecute() action
  // no corresponding operation exists in OpenRTm-aist-0.2.0
  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);

  // The action that is invoked when execution context's rate is changed
  // no corresponding operation exists in OpenRTm-aist-0.2.0
  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
  bool setParameter(const OpenHRP::ThermoLimiterService::tlParam& i_tlp);
  bool getParameter(OpenHRP::ThermoLimiterService::tlParam& i_tlp);


 protected:
  // Configuration variable declaration
  // <rtc-template block="config_declare">
  
  // </rtc-template>
  TimedDoubleSeq m_tempIn;
  TimedDoubleSeq m_tauMaxOut;
  TimedLongSeq m_beepCommandOut;
  
  // DataInPort declaration
  // <rtc-template block="inport_declare">
  InPort<TimedDoubleSeq> m_tempInIn;
  
  // </rtc-template>

  // DataOutPort declaration
  // <rtc-template block="outport_declare">
  OutPort<TimedDoubleSeq> m_tauMaxOutOut;
  OutPort<TimedLongSeq> m_beepCommandOutOut;
  
  // </rtc-template>

  // CORBA Port declaration
  // <rtc-template block="corbaport_declare">
  
  // </rtc-template>

  // Service declaration
  // <rtc-template block="service_declare">
  RTC::CorbaPort m_ThermoLimiterServicePort;
  
  // </rtc-template>

  // Consumer declaration
  // <rtc-template block="consumer_declare">
  ThermoLimiterService_impl m_ThermoLimiterService;
  
  // </rtc-template>

 private:
  double m_dt;
  long long m_loop;
  unsigned int m_debugLevel, m_debug_print_freq;
  double m_alarmRatio;
  hrp::dvector m_motorTemperatureLimit;
  hrp::BodyPtr m_robot;
  std::vector<MotorHeatParam> m_motorHeatParams;
  coil::Mutex m_mutex;
  BeepClient bc;

  void calcMaxTorqueFromTemperature(hrp::dvector &tauMax);
  double calcEmergencyRatio(RTC::TimedDoubleSeq &current, hrp::dvector &max, double alarmRatio, std::string &prefix);
  void callBeep(double ratio, double alarmRatio);
  bool isDebug(int cycle = 200);
};


extern "C"
{
  void ThermoLimiterInit(RTC::Manager* manager);
};

#endif // NULL_COMPONENT_H