ElmoRecorder.h

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob3_common
 * ROS package name: canopen_motor
 * Description: The in Elmo drives integrated Recorder allows the user to record drive information at a high frequency. 
 * The Recorder firstly has to be configured properly. It can be started immidiately after configuring or later, triggered by a signal (e.g. a begin-motion-command).
 * When the recording is finished, you can read out the data via CANopen using a segmented SDO transfer. Appropriate functions for this CANopen specific process are provided by the CanDriveHarmonica class.
 * This class brings all the functions to use the Elmo Recorder in a comfortable way. 
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Philipp Köhler
 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
 *
 * Date of creation: Mar 2010
 * ToDo:
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) 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 3 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 Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

#ifndef _ElmoRecorder_H
#define _ElmoRecorder_H

#include <string>
#include <cob_canopen_motor/SDOSegmented.h>

class CanDriveHarmonica;

class ElmoRecorder {
        public:
                ElmoRecorder(CanDriveHarmonica * pParentHarmonicaDrive);

                ~ElmoRecorder();
                
                int processData(segData& SDOData);
                
                int configureElmoRecorder(int iRecordingGap, int driveID, int startImmediately = 1);
                
                bool isInitialized(bool initNow);
                
                int readoutRecorderTry(int iObjSubIndex);

                int readoutRecorderTryStatus(int iStatusReg, segData& SDOData);

                int setLogFilename(std::string sLogFileprefix);
                
        private:
                int m_iCurrentObject;
                
                float m_fRecordingStepSec;
                
                std::string m_sLogFilename;
                
                int m_iReadoutRecorderTry;
        
                CanDriveHarmonica* m_pHarmonicaDrive;
                
                int m_iDriveID;
                
                bool m_bIsInitialized;
                
                int readoutRecorder(int iObjSubIndex);
                
                int logToFile(std::string filename, std::vector<float> vtValues[]);
                
                float convertBinaryToFloat(unsigned int binaryRepresentation);  

                float convertBinaryToHalfFloat(unsigned int iBinaryRepresentation);
};

#endif