sdhserial.h

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//======================================================================
//======================================================================

#ifndef SDHSERIAL_H_
#define SDHSERIAL_H_

#include "sdhlibrary_settings.h"

//----------------------------------------------------------------------
// System Includes - include with <>
//----------------------------------------------------------------------

#include <assert.h>
#if ! SDH_USE_VCC
# include <unistd.h>
#endif

//----------------------------------------------------------------------
// Project Includes - include with ""
//----------------------------------------------------------------------

#include "dbg.h"
#include "sdhexception.h"
#include "simplevector.h"
#include "simplestringlist.h"
#include "sdhbase.h"
#include "serialbase.h"

//----------------------------------------------------------------------
// Defines, enums, unions, structs,
//----------------------------------------------------------------------

#include "sdh_codes.h"

//----------------------------------------------------------------------
// Global variables
//----------------------------------------------------------------------


//----------------------------------------------------------------------
// Function declarations
//----------------------------------------------------------------------


//----------------------------------------------------------------------
// Class declarations
//----------------------------------------------------------------------

NAMESPACE_SDH_START

// forward declarations of privatly used structures:
struct sSDHBinaryRequest;
struct sSDHBinaryResponse;

class VCC_EXPORT cSDHSerial : public cSDHBase
{
    friend struct sSDHBinaryRequest;
    friend struct sSDHBinaryResponse;

protected:
    double m_sequtime;

    char const* EOL;

    cSerialBase* com;


    cSimpleStringList reply;

    int nb_lines_to_ignore;

public:
    //#################################################################
    //-----------------------------------------------------------------
    cSDHSerial( int _debug_level=0 );


    //-----------------------------------------------------------------
    virtual ~cSDHSerial()
    {}


    //-----------------------------------------------------------------
    void Open( cSerialBase* _com );


    void Close();


    virtual bool IsOpen( void );


    void Send( char const* s, int nb_lines=All, int nb_lines_total=All, int max_retries=3 );


    void ExtractFirmwareState();


    double GetDuration( char* line );


    double get_duration( void );

    void Sync( );

    void BinarySync( double timeout_s = 0.5 );

    void SyncUnknown( );


    cSimpleVector AxisCommand( char const* command, int axis=All, double* value=NULL );

    cSimpleVector BinaryAxisCommand( eCommandCode command, int axis=All, double* value=NULL );


    //  end of doxygen name group sdhlibrary_cpp_csdhserial_internal
    //################################################################

    //################################################################
    //-----------------------------------------------------------------
    cSimpleVector pid( int axis, double* p=NULL, double* i=NULL, double* d=NULL );

    //-----------------------------------------------------------------
    cSimpleVector kv( int axis=All, double* kv=NULL );

    //-----------------------------------------------------------------
    cSimpleVector ilim( int axis=All, double* limit=NULL );

    //-----------------------------------------------------------------
    cSimpleVector power( int axis=All, double* flag=NULL );

    //  end of doxygen name group sdhlibrary_cpp_csdhserial_setup_commands
    //#################################################################


    //#################################################################
    //-----------------------------------------------------------------
    void demo( bool onoff );

    //-----------------------------------------------------------------
    int property( char const* propname, int value );

    //-----------------------------------------------------------------
    int user_errors( int value );

    //-----------------------------------------------------------------
    int terminal( int value );

    //-----------------------------------------------------------------
    int debug( int value );

    //-----------------------------------------------------------------

    //  end of doxygen name group sdhlibrary_cpp_csdhserial_misc_commands
    //#################################################################

    //#################################################################
    //-----------------------------------------------------------------
    cSimpleVector v( int axis=All, double* velocity=NULL );

    //-----------------------------------------------------------------
    cSimpleVector tvav( int axis=All, double* velocity=NULL );

    //-----------------------------------------------------------------
    cSimpleVector vlim( int axis=All, double* dummy=NULL );

    //-----------------------------------------------------------------
    cSimpleVector alim( int axis=All, double* dummy=NULL );

    //-----------------------------------------------------------------
    cSimpleVector a( int axis=All, double* acceleration=NULL );

    //-----------------------------------------------------------------
    cSimpleVector p( int axis=All, double* angle=NULL );

    //-----------------------------------------------------------------
    cSimpleVector tpap( int axis=All, double* angle=NULL );

    //-----------------------------------------------------------------
    double m( bool sequ );

    //-----------------------------------------------------------------
    void stop( void );


    //-----------------------------------------------------------------
    eVelocityProfile vp( eVelocityProfile velocity_profile = eVP_INVALID );


    //-----------------------------------------------------------------
    eControllerType con( eControllerType controller );

    //  end of doxygen name group sdhlibrary_cpp_csdhserial_movement_commands
    //#################################################################

    //#################################################################
    //-----------------------------------------------------------------
    cSimpleVector pos( int axis=All, double* dummy=NULL );

    //-----------------------------------------------------------------
    cSimpleVector pos_save( int axis=All, double* value=NULL );

    //-----------------------------------------------------------------

    cSimpleVector ref( int axis=All, double* value=NULL );

    //-----------------------------------------------------------------
    cSimpleVector vel( int axis=All, double* dummy=NULL );

    cSimpleVector rvel( int axis, double* dummy=NULL );


    //-----------------------------------------------------------------
    cSimpleVector state( int axis=All, double* dummy=NULL );

    //-----------------------------------------------------------------
    cSimpleVector temp( void );

    //-----------------------------------------------------------------
    cSimpleVector temp_electronics( void );

    //-----------------------------------------------------------------
    char* ver( void );
    //-----------------------------------------------------------------

    char* ver_date( void );
    //-----------------------------------------------------------------

    char* id( void );

    //-----------------------------------------------------------------
    char* sn( void );

    //-----------------------------------------------------------------
    char* soc( void );

    //-----------------------------------------------------------------
    char* soc_date( void );

    //-----------------------------------------------------------------
    int numaxis( void );


    //  end of doxygen name group sdhlibrary_cpp_csdhserial_diagnosis_commands
    //#################################################################

    //#################################################################
    //-----------------------------------------------------------------
    cSimpleVector igrip( int axis=All, double* limit=NULL );

    //-----------------------------------------------------------------
    cSimpleVector ihold( int axis=All, double* limit=NULL );

    //-----------------------------------------------------------------
    double selgrip( eGraspId grip, bool sequ );

    //-----------------------------------------------------------------
    double grip( double close, double velocity, bool sequ );

    //  end of doxygen name group sdhlibrary_cpp_csdhserial_grip_commands
    //#################################################################

}; // end of class cSDHSerial
//=====================================================================

typedef cSimpleVector (cSDHSerial::*pSetFunction)(int, double*);

typedef cSimpleVector (cSDHSerial::*pGetFunction)(int, double*);

NAMESPACE_SDH_END

#endif


//======================================================================
/*
  Here are some settings for the emacs/xemacs editor (and can be safely ignored):
  (e.g. to explicitely set C++ mode for *.h header files)

  Local Variables:
  mode:C++
  mode:ELSE
  End:
*/
//======================================================================