ElmoCtrl.h

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob3_driver
 * ROS package name: cob_camera_axis
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Ulrich Reiser, email:ulrich.reiser@ipa.fhg.de
 *
 * Date of creation: Jul 2010
 * 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 __ELMO_CTRL_H__
#define __ELMO_CTRL_H__
#define NTCAN_CLEAN_NAMESPACE
#include <cob_canopen_motor/CanDriveItf.h>
#include <cob_canopen_motor/CanDriveHarmonica.h>
#include <cob_generic_can/CanItf.h>
#include <cob_generic_can/CanPeakSys.h>
#include <cob_generic_can/CanPeakSysUSB.h>
#include <cob_generic_can/CanESD.h>

// Headers provided by cob-packages which should be avoided/removed^M
#include <cob_utilities/IniFile.h>
#include <string>


typedef struct _CanOpenAddress
{
        int TxPDO1;
        int TxPDO2;
        int RxPDO2;
        int TxSDO;
        int RxSDO;
} CanOpenAddress;

class ElmoCtrl;

typedef struct
{
        ElmoCtrl * pElmoCtrl;
} ElmoThreadArgs;


class ElmoCtrlParams
{

        public:
                ElmoCtrlParams(){;}
                
                int Init(std::string CanDevice, int BaudRate, int ModuleID)
                {
                        SetCanDevice(CanDevice);
                        SetBaudRate(BaudRate);  
                        SetModuleID(ModuleID);
                        return 0;
                }
                                
                //Can Device
                void SetCanDevice(std::string CanDevice){m_CanDevice = CanDevice;}
                std::string GetCanDevice(){return m_CanDevice;}
                        
                //BaudRate
                void SetBaudRate(int BaudRate){m_BaudRate=BaudRate;}
                int GetBaudRate(){return m_BaudRate;}
        
                //ModuleIDs
                int GetModuleID(){return m_ModuleID;}
                void SetModuleID(int id){m_ModuleID = id;}
                
                //Angular Constraints
                void SetUpperLimit(double UpperLimit){m_UpperLimit = UpperLimit;}
                void SetLowerLimit(double LowerLimit){m_LowerLimit = LowerLimit;}
                void SetAngleOffset(double AngleOffset){m_Offset = AngleOffset;}
                double GetUpperLimit(){return m_UpperLimit;}
                double GetLowerLimit(){return m_LowerLimit;}
                double GetAngleOffset(){return m_Offset;}

                //Velocity
                void SetMaxVel(double maxVel){m_MaxVel = maxVel;}
                double GetMaxVel(){return m_MaxVel;}

                //HomingDir
                void SetHomingDir(int dir){m_HomingDir = dir;}
                int GetHomingDir(){return m_HomingDir;}

                //HomingDigIn
                void SetHomingDigIn(int dig_in){m_HomingDigIn = dig_in;}
                int GetHomingDigIn(){return m_HomingDigIn;}
                
                //CanIniFile
                void SetCanIniFile(std::string iniFile){m_CanIniFile=iniFile;}
                std::string GetCanIniFile(){return m_CanIniFile;}
                
                //Encoder increments
                void SetEncoderIncrements(int enc_incr){m_EncIncrPerRevMot = enc_incr;}
                int GetEncoderIncrements(){return m_EncIncrPerRevMot;}
                
                //Belt & Gear ratio in one
                void SetGearRatio(double gear_ratio){m_GearRatio = gear_ratio;}
                double GetGearRatio(){return m_GearRatio;}
                
                //Motor direction
                void SetMotorDirection(int motor_dir){
                        if(motor_dir<0) m_MotorDirection = -1;
                        else m_MotorDirection = 1;
                }
                int GetMotorDirection(){return m_MotorDirection;}
                
                
                        
                
        private:
                int m_ModuleID;
                std::string  m_CanDevice;
                int m_BaudRate;
                int m_HomingDir;
                int m_HomingDigIn;
                int m_EncIncrPerRevMot;
                int m_MotorDirection;
                double m_GearRatio;
                double m_Offset;
                double m_UpperLimit;
                double m_LowerLimit;
                double m_MaxVel;
                std::string m_CanIniFile;

};

class ElmoCtrl
{

public:
        ElmoCtrl();
        ~ElmoCtrl();

        bool Init(ElmoCtrlParams* params, bool home = true);


        double MoveJointSpace (double PosRad);
        

        bool Home();

        bool RecoverAfterEmergencyStop();

        bool Stop();


        void setMaxVelocity(float radpersec)
        {
                m_MaxVel = radpersec;
        }

        int getGearPosVelRadS(double* pdAngleGearRad, double* pdVelGearRadS);
        
        int setGearPosVelRadS(double dPosRad, double dVelRadS);

        int evalCanBuffer();

        //_double getConfig();

        double getJointVelocity();



        bool SetMotionCtrlType(int type);
        int GetMotionCtrlType(); 
        bool isError() ;
        

        enum {
                POS_CTRL,
                VEL_CTRL
        } MOTION_CTRL_TYPE;


        CANPeakSysUSB* GetCanCtrl(){return m_CanCtrl;}
        //CanESD* GetCanCtrl(){return m_CanCtrl;}
        //bool m_ElmoCtrlThreadActive;
        //pthread_mutex_t   m_cs_elmoCtrlIO;
        CanDriveHarmonica * m_Joint;  

private:

        bool sendNetStartCanOpen(CanItf* canCtrl);

        int m_MotionCtrlType;   

        DriveParam * m_JointParams;

        int  m_CanBaseAddress;
        CanOpenAddress  m_CanAddress;

        CANPeakSysUSB * m_CanCtrl;
        //CanESD * m_CanCtrl;

        double m_MaxVel;
        int m_HomingDir;
        int m_HomingDigIn;
        int m_EncIncrPerRevMot;
        int m_MotorDirection;
        double m_GearRatio;

        double  m_UpperLimit;
        double  m_LowerLimit;
        double  m_JointOffset;
        /*      
        Jointd* m_CurrentAngularVelocity;
        Jointd* m_CurrentJointAngles;
        */
        pthread_mutex_t   m_Mutex;
        //pthread_mutex_t   m_AngularVel_Mutex;
        //pthread_t   m_ElmoThreadID;
        //ElmoThreadArgs * m_ElmoCtrlThreadArgs;
        ElmoCtrlParams * m_Params;
        CanMsg m_CanMsgRec;
        
        

};









#endif //__ELMO_CTRL_H__