generic_updater.hpp

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/*
* @file   generic_updater.hpp
* @author toni <toni@shadowrobot.com>
* @date   20 Oct 2011
*
/* Copyright 2011 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* 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 General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
*
* @brief This is a generic command updater: it has 2 different queues one for
*        the important data which is updated as fast as possible, one for
*        unimportant data which is updated on a time basis.
*
*
*/

#ifndef GENERIC_UPDATER_HPP_
#define GENERIC_UPDATER_HPP_

#include <ros/ros.h>
#include <vector>
#include <list>
#include <queue>
#include <boost/thread/mutex.hpp>
#include <boost/smart_ptr.hpp>
#include <sr_external_dependencies/types_for_external.h>

extern "C"
{
#include <sr_external_dependencies/external/0220_palm_edc/0220_palm_edc_ethercat_protocol.h>
#include <sr_external_dependencies/external/0230_palm_edc_TS/0230_palm_edc_ethercat_protocol.h>
#include <sr_external_dependencies/external/0240_palm_edc_IMU/0240_palm_edc_IMU_ethercat_protocol.h>
#include <sr_external_dependencies/external/0320_palm_edc_muscle/0320_palm_edc_ethercat_protocol.h>
}

namespace operation_mode
{
namespace device_update_state
{
  enum DeviceUpdateState
  {
    INITIALIZATION,
    OPERATION
  };
}   // namespace device_update_state
}  // namespace operation_mode

namespace generic_updater
{
struct UpdateConfig
{
  int32u what_to_update;
  double when_to_update;
};

/*
* The Generic Updater builds the next command we want to send to the hand.
* We can ask for different types of data at different rates. The data and
* their rates are defined in the sr_ethercat_hand_config/rates/xxxxx.yaml
* The important data are refreshed as often as possible (they have a -1. refresh
* rate in the config file).
*
* The unimportant data are refreshed at their given rate (the value is defined in
* the config in seconds).
*/
template<class CommandType>
class GenericUpdater
{
public:
  GenericUpdater(std::vector<UpdateConfig> update_configs_vector,
                 operation_mode::device_update_state::DeviceUpdateState update_state);

  virtual ~GenericUpdater()
  {
  }

  /*
   * Building the motor command. This function is called at each packCommand() call.
   * If an unimportant data is waiting then we send it, otherwise, we send the next
   * important data.
   *
   * @param command The command which will be sent to the motor.
   * @return the current state of the device.
   */
  virtual operation_mode::device_update_state::DeviceUpdateState build_command(CommandType *command) = 0;

  /*
   * A timer callback for the unimportant data. The frequency of this callback
   * is defined in the config file.
   *
   * @param event
   * @param data_type The unimportant data type we want to ask for.
   */
  void timer_callback(const ros::TimerEvent &event, int32u data_type);

  operation_mode::device_update_state::DeviceUpdateState update_state;
  // Contains all the initialization data types.
  std::vector<UpdateConfig> initialization_configs_vector;

  std::vector<UpdateConfig> important_update_configs_vector;

protected:
  ros::NodeHandle nh_tilde;

  int which_data_to_request;

  // All the timers for the unimportant data types.
  std::vector<ros::Timer> timers;
  // A queue containing the unimportant data types we want to ask for next time (empty most of the time).
  std::queue<int32u, std::list<int32u> > unimportant_data_queue;
  // Contains the vector with the update configs for every command. We store it to be able to reinitialize.
  std::vector<UpdateConfig> update_configs_vector;

  boost::shared_ptr<boost::mutex> mutex;
};
}  // namespace generic_updater


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

#endif /* GENERIC_UPDATER_HPP_ */