CanDriveItf.h

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_driver
 * ROS package name: cob_canopen_motor
 * Description:
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Christian Connette, email:christian.connette@ipa.fhg.de
 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
 *
 * Date of creation: Feb 2009
 * 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 CANDRIVEITF_INCLUDEDEF_H
#define CANDRIVEITF_INCLUDEDEF_H

//-----------------------------------------------
#include <cob_generic_can/CanItf.h>
#include <cob_canopen_motor/DriveParam.h>
#include <cob_canopen_motor/SDOSegmented.h>
//-----------------------------------------------

class CanDriveItf
{
public:
        enum MotionType
        {
                MOTIONTYPE_VELCTRL,
        MOTIONTYPE_TORQUECTRL,
                MOTIONTYPE_POSCTRL
        };

        virtual void setCanItf(CanItf* pCanItf) = 0;

        virtual bool init() = 0;
        
        virtual bool isInitialized() = 0;

        virtual bool start() = 0;

        virtual bool stop() = 0;

        virtual bool reset() = 0;

        virtual bool shutdown() = 0;

        virtual bool disableBrake(bool bDisabled) = 0;

        virtual bool initHoming() = 0;

        virtual bool execHoming() = 0;

        virtual double getTimeToLastMsg() = 0;

        virtual bool getStatusLimitSwitch() = 0;

        virtual bool startWatchdog(bool bStarted) = 0;

        virtual bool evalReceivedMsg(CanMsg& msg) = 0;

        virtual bool evalReceivedMsg() = 0;

        virtual void setGearPosVelRadS(double dPosRad, double dVelRadS) = 0;

        virtual void setGearVelRadS(double dVelRadS) = 0;

        virtual bool setTypeMotion(int iType) = 0;

        virtual void getGearPosVelRadS(double* pdAngleGearRad, double* pdVelGearRadS) = 0;

        virtual void getGearDeltaPosVelRadS(double* pdDeltaAngleGearRad, double* pdVelGearRadS) = 0;

        virtual void getGearPosRad(double* pdPosGearRad) = 0;

        virtual void setDriveParam(DriveParam driveParam) = 0;

        virtual bool isError() = 0;
        
        virtual unsigned int getError() = 0;

        virtual void requestPosVel() = 0;

        virtual void requestStatus() = 0;

        virtual void getStatus(int* piStatus, int* piTempCel) = 0;

        virtual bool setEMStop() = 0;

        virtual bool resetEMStop() = 0;

        virtual void IntprtSetInt(int iDataLen, char cCmdChar1, char cCmdChar2, int iIndex, int iData) = 0;

    virtual     int setRecorder(int iFlag, int iParam = 0, std::string sParam = "/home/MyLog") = 0;

        virtual void requestMotorTorque() = 0;
        
        virtual void getMotorTorque(double* dTorqueNm) = 0;
    
    virtual void setMotorTorque(double dTorqueNm) = 0;
};


//-----------------------------------------------
#endif