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
{


struct SlaveMessageOutput
{
  int32 value;
  uint8 controllerMode;
  SlaveMessageOutput() :
      value(0), controllerMode(0)
  {
  }
  ;
}__attribute__((__packed__));


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)
  {
  }
  ;
}__attribute__((__packed__));

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 */