motor_updater.cpp

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#include "sr_robot_lib/motor_updater.hpp"
#include <boost/foreach.hpp>
#include <iostream>

namespace generic_updater
{
  template <class CommandType>
  MotorUpdater<CommandType>::MotorUpdater(std::vector<UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state)
    : GenericUpdater<CommandType>(update_configs_vector, update_state), even_motors(1)
  {
  }

  template <class CommandType>
  MotorUpdater<CommandType>::~MotorUpdater()
  {
  }

  template <class CommandType>
  operation_mode::device_update_state::DeviceUpdateState MotorUpdater<CommandType>::build_init_command(CommandType* command)
  {
    if(!this->mutex->try_lock())
      return this->update_state;

    if (this->update_state == operation_mode::device_update_state::INITIALIZATION)
    {
      // First we ask for the next data we want to receive
      if(even_motors)
        even_motors = 0;
      else
      {
        even_motors = 1;
        this->which_data_to_request ++;

        if( this->which_data_to_request >= this->initialization_configs_vector.size() )
          this->which_data_to_request = 0;
      }

      command->which_motors = even_motors;

      //initialization data
      command->from_motor_data_type = static_cast<FROM_MOTOR_DATA_TYPE>(this->initialization_configs_vector[this->which_data_to_request].what_to_update);
      ROS_DEBUG_STREAM("Updating initialization data type: "<<command->from_motor_data_type << " | ["<<this->which_data_to_request<<"/"<<this->initialization_configs_vector.size()<<"] ");
    }
    else
    {
      //For the last message sent when a change of update_state happens (after that we use build_command instead of build_init_command)
      //we use the first important message and ask it to the even motors (0)
      //This is to avoid sending a random command
      command->which_motors = 0;
      command->from_motor_data_type = static_cast<FROM_MOTOR_DATA_TYPE>(this->important_update_configs_vector[0].what_to_update);
      ROS_DEBUG_STREAM("Updating important data type: "<<command->from_motor_data_type << " | ["<<this->which_data_to_request<<"/"<<this->important_update_configs_vector.size()<<"] ");
    }

    this->mutex->unlock();

    return this->update_state;
  }

  template <class CommandType>
  operation_mode::device_update_state::DeviceUpdateState MotorUpdater<CommandType>::build_command(CommandType* command)
  {
    if(!this->mutex->try_lock())
      return this->update_state;

    // First we ask for the next data we want to receive
    if(even_motors)
      even_motors = 0;
    else
    {
      even_motors = 1;
      this->which_data_to_request ++;

      if( this->which_data_to_request >= this->important_update_configs_vector.size() )
        this->which_data_to_request = 0;
    }

    command->which_motors = even_motors;

    if(!this->unimportant_data_queue.empty())
    {
      //an unimportant data is available
      command->from_motor_data_type = static_cast<FROM_MOTOR_DATA_TYPE>(this->unimportant_data_queue.front());
      this->unimportant_data_queue.pop();

      ROS_DEBUG_STREAM("Updating unimportant data type: "<<command->from_motor_data_type << " | queue size: "<<this->unimportant_data_queue.size());
    }
    else
    {
      //important data to update as often as possible
      command->from_motor_data_type = static_cast<FROM_MOTOR_DATA_TYPE>(this->important_update_configs_vector[this->which_data_to_request].what_to_update);
      ROS_DEBUG_STREAM("Updating important data type: "<<command->from_motor_data_type << " | ["<<this->which_data_to_request<<"/"<<this->important_update_configs_vector.size()<<"] ");
    }

    this->mutex->unlock();

    return this->update_state;
  }

  //Only to ensure that the template class is compiled for the types we are interested in
  template class MotorUpdater<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND>;
  template class MotorUpdater<ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND>;
}



/* For the emacs weenies in the crowd.
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*/