sr_board_adc16.hpp

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/*
 * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3.0 of the License, or (at your option) any later version.
 *
 * This library 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 for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library.
 */

#ifndef _SR_BOARD_ADC16_HPP_
#define _SR_BOARD_ADC16_HPP_

#include <ros_ethercat_hardware/ethercat_device.h>
#include <realtime_tools/realtime_publisher.h>
#include <sr_ronex_msgs/ADC16State.h>

#include <sr_ronex_external_protocol/Ronex_Protocol_0x02000008_ADC16_00.h>
#include <sr_ronex_hardware_interface/adc16_hardware_interface.hpp>

#include <boost/ptr_container/ptr_vector.hpp>
#include <boost/scoped_ptr.hpp>
#include <vector>
#include <queue>
#include <string>

#include <dynamic_reconfigure/server.h>
#include "sr_ronex_drivers/ADC16Config.h"


class SrBoardADC16 : public EthercatDevice
{
public:
  virtual void construct(EtherCAT_SlaveHandler *sh, int &start_address);
  virtual int initialize(hardware_interface::HardwareInterface *hw, bool allow_unprogrammed = true);

  SrBoardADC16();
  virtual ~SrBoardADC16();

  void dynamic_reconfigure_cb(sr_ronex_drivers::ADC16Config &config, uint32_t level);

protected:
  static const std::string product_alias_;

  std::string ronex_id_;

  string reason_;
  int level_;

  int command_base_;
  int status_base_;

  ros::NodeHandle node_;

  ronex::ADC16 *adc16_;

  int16_t cycle_count_;

  int32u digital_commands_;

  std::string device_name_;
  std::string serial_number_;

  int device_offset_;

  // False if initial configuration has not been sent
  bool config_received_;
  // True if registers are being set
  bool reg_flag_;
  // Switch for states of setting registers
  int reg_state_;
  // Count for feedback
  int feedback_flag_;

  bool has_stacker_;

  std::vector<bool> input_mode_;

  // Queue of commands to send to register
  std::queue<RONEX_COMMAND_02000008> command_queue_;
  std::queue<RONEX_COMMAND_02000008> queue_backup_;

  // 1 for single ended adc, 2 for differential
  std::vector<int> pin_mode_;

  // Number of stacks present
  int stack;

  // values_s0: first single ended pin values,
  // values_s1: second single ended pin values,
  // values_d: differential pin values
  // fake_values: the additional bits sent
  // padded: the addition of requested and fake values
  std::vector<uint16_t> values_s0_;
  std::vector<uint16_t> values_s1_;
  std::vector<uint16_t> values_d_;
  std::vector<uint16_t> fake_values_s0_;
  std::vector<uint16_t> fake_values_s1_;
  std::vector<uint16_t> padded_s0_;
  std::vector<uint16_t> padded_s1_;


  void packCommand(unsigned char *buffer, bool halt, bool reset);
  bool unpackState(unsigned char *this_buffer, unsigned char *prev_buffer);

  void diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *buffer);

  boost::scoped_ptr<realtime_tools::RealtimePublisher<sr_ronex_msgs::ADC16State> > state_publisher_;
  sr_ronex_msgs::ADC16State state_msg_;

  boost::scoped_ptr<dynamic_reconfigure::Server<sr_ronex_drivers::ADC16Config> > dynamic_reconfigure_server_;

  dynamic_reconfigure::Server<sr_ronex_drivers::ADC16Config>::CallbackType function_cb_;

  void build_topics_();

  int parameter_id_;
};

/* For the emacs weenies in the crowd.
   Local Variables:
   c-basic-offset: 2
   End:
*/

#endif /* _SR_BOARD_ADC16_HPP_ */