OrocosRTTArmDriverInterface.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */


#ifndef OROCOSRTTARMDRIVERINTERFACE_H_
#define OROCOSRTTARMDRIVERINTERFACE_H_
#include "Joint.h"
#include <rtt/TaskContext.hpp>
#include <rtt/Command.hpp>
#include <rtt/Ports.hpp>
#include <rtt/Method.hpp>

using namespace RTT;

class OrocosRTTArmDriverInterface : public TaskContext
{

public:



        ReadDataPort<Jointd>  set_position_inport;
        ReadDataPort<Jointd>  set_velocity_inport;

        WriteDataPort<Jointd>  current_position_outport;
        WriteDataPort<Jointd>  current_velocity_outport;

        Method<void(Jointd)> setMaxVelocity;
        Method<void(float)> setMaxVelocityFloat;
        Method<void(Jointd)> setMaxAcceleration;
        Method<void(float)> setMaxAccelerationFloat;

        OrocosRTTArmDriverInterface(std::string name) : TaskContext(name),
                        set_position_inport("SetPositionPort"),
                        set_velocity_inport("SetVelocityPort"),
                        current_position_outport("CurrentPositionPort"),
                        current_velocity_outport("CurrentVelocityPort"),
                        setMaxVelocity("setMaxVelocity",
                                &OrocosRTTArmDriverInterface::setMaxVelocityF,
                                this),
                        setMaxVelocityFloat("setMaxVelocityFloat",
                                        &OrocosRTTArmDriverInterface::setMaxVelocityFloatF,
                                this),
                        setMaxAcceleration("setMaxAcceleration",
                                         &OrocosRTTArmDriverInterface::setMaxAccelerationF,
                                         this),
                        setMaxAccelerationFloat("setMaxAccelerationFloat",
                                         &OrocosRTTArmDriverInterface::setMaxAccelerationFloatF,
                                 this)
        {
                this->ports()->addEventPort(&set_position_inport);
                this->ports()->addEventPort(&set_velocity_inport);
                this->ports()->addPort(&current_position_outport);
                this->ports()->addPort(&current_velocity_outport);

                this->methods()->addMethod( &setMaxVelocity,
                                "Setting maximal velocity of joints.", "Jointd", "maximal velocity in rad per second");
                this->methods()->addMethod( &setMaxVelocityFloat,
                                    "Setting maximal velocity of joints.", "float", "maximal velocity in rad per second");
                this->methods()->addMethod( &setMaxAcceleration,
                                    "Setting maximal acceleration of joints.", "Jointd", "maximal acceleration in rad per second squared");
                this->methods()->addMethod( &setMaxAccelerationFloat,
                                    "Setting maximal acceleration of joints.", "float", "maximal acceleration in rad per second squared");

        }
        ~OrocosRTTArmDriverInterface() {};

private:
        virtual void setMaxVelocityF(Jointd radpersec) = 0;
        virtual void setMaxVelocityFloatF(float radpersec) = 0;
        virtual void setMaxAccelerationF(Jointd radpersec) = 0;
        virtual void setMaxAccelerationFloatF(float radpersec) = 0;


};


#endif /* OROCOSRTTARMDRIVERINTERFACE_H_ */