RobotArm.h

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/*
 * RobotArm.h
 *
 * Common interface for robot arms controlled via MetraLabs API.
 */

#ifndef ROBOTARM_H_
#define ROBOTARM_H_

#include <boost/noncopyable.hpp>

#include <ros/ros.h>


class RobotArm : private boost::noncopyable {

public:
        typedef uint_fast16_t IDType; // avoid char-typedef'ed uint8_t


        RobotArm(IDType id_offset = 0)
                : id_offset_(id_offset),
                  modules_count_(0)
        {
        }

        virtual ~RobotArm() {
        }

        virtual void init() = 0;


        virtual int emergencyStopJoint(IDType id) = 0;
        virtual void emergencyStopAll() {
                for (IDType id = 0; id < modules_count_; ++id)
                        emergencyStopJoint(id);
        }

        virtual int normalStopJoint(IDType id) = 0;
        virtual void normalStopAll() {
                for (IDType id = 0; id < modules_count_; ++id)
                        normalStopJoint(id);
        }

        virtual int ackJoint(IDType id) = 0;
        virtual void ackAll() {
                for (IDType id = 0; id < modules_count_; ++id)
                        ackJoint(id);
        }

        virtual int refJoint(IDType id) = 0;
        virtual void refAll() {
                for (IDType id = 0; id < modules_count_; ++id)
                        refJoint(id);
        }


        virtual float getPosition(IDType id) = 0;
        virtual float getVelocity(IDType id) = 0;
        virtual float getMaxCurrent(IDType id) = 0;


        virtual int setVelocity(IDType id, float velocity) = 0;
        virtual int setAcceleration(IDType id, float acceleration) = 0;
        virtual int setCurrent(IDType id, float current) = 0;

        virtual void setCurrentsToMax() {
                for (IDType id = 0; id < modules_count_; ++id)
                        setCurrent(id, getMaxCurrent(id));
        }

        virtual int movePosition(IDType id, float position) = 0;
        virtual int movePositionDuration(IDType id, float position, uint16_t msecs) = 0;
        virtual int moveVelocity(IDType id, float v) = 0;



        // TODO maybe replace those uint8_t with bool
        virtual void getModuleStatus(IDType module_id, uint8_t& referenced, uint8_t& moving,
                        uint8_t& prog_mode, uint8_t& warning, uint8_t& error, uint8_t& brake,
                        uint8_t& move_end, uint8_t& pos_reached, uint8_t& error_code, float& current) = 0;


        unsigned int getModulesCount() const {
                return modules_count_;
        }

protected:
        /* Offset used to for mapping joint zero-based joint index on ROS side to offset-based index on hardware side.
         * Therefore it's only to be added when passing an index to a lower level method. */
        IDType id_offset_;

        unsigned int modules_count_;
};


#endif /* ROBOTARM_H_ */