Katana.h

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/*
 * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
 * Copyright (C) 2010  University of Osnabrück
 *
 * 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; either version 2
 * of the License, or (at your option) any later version.
 *
 * 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, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * Katana.h
 *
 *  Created on: 06.12.2010
 *      Author: Martin Günther <mguenthe@uos.de>
 */

#ifndef KATANA_H_
#define KATANA_H_

#include <ros/ros.h>
#include <std_srvs/Empty.h>
#include <boost/thread/recursive_mutex.hpp>
#include <boost/thread.hpp>

#include <kniBase.h>

#include <katana/SpecifiedTrajectory.h>
#include <katana/AbstractKatana.h>
#include <katana/KNIConverter.h>

namespace katana
{

class Katana : public AbstractKatana
{
public:
  Katana();
  virtual ~Katana();

  void refreshEncoders();

  virtual bool executeTrajectory(boost::shared_ptr<SpecifiedTrajectory> traj,
                                 boost::function<bool()> isPreemptRequested);

  virtual void freezeRobot();
  virtual bool moveJoint(int jointIndex, double turningAngle);

  virtual void refreshMotorStatus();
  virtual bool someMotorCrashed();
  virtual bool allJointsReady();
  virtual bool allMotorsReady();

  virtual void setLimits(void);
  virtual void testSpeed();

protected:
  boost::shared_ptr<CLMBase> kni;
  boost::recursive_mutex kni_mutex;
  std::vector<TMotStsFlg> motor_status_;

  KNIConverter* converter;

  short round(const double x);

private:
  ros::ServiceServer switch_motors_off_srv_;
  ros::ServiceServer switch_motors_on_srv_;
  ros::ServiceServer test_speed_srv_;

  CCplSerialCRC* protocol;
  CCdlBase* device;

  ros::Time last_encoder_update_;

  void calibrate();

  bool switchMotorsOff(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response);
  bool switchMotorsOn(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response);
  bool testSpeedSrv(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response);
};

}

#endif /* KATANA_H_ */