EthercatMasterWithThread.hpp

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#ifndef YOUBOT_ETHERCATMASTERWITHTHREAD_H
#define YOUBOT_ETHERCATMASTERWITHTHREAD_H

/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * 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 Hochschule Bonn-Rhein-Sieg 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 2.1 of the
 * License, or (at your option) any later version or the BSD 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 Lesser General Public License LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ****************************************************************/
#include <vector>
#include <sstream>
#include <string>
#include <cstdio>
#include <stdexcept>
#include <iostream>
#include <boost/thread.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <youbot_driver/generic/dataobjectlockfree/DataObjectLockFree.hpp>
#include <youbot_driver/generic/Logger.hpp>
#include <youbot_driver/generic/Units.hpp>
#include <youbot_driver/generic/Time.hpp>
#include <youbot_driver/generic/Exceptions.hpp>
#include <youbot_driver/generic/ConfigFile.hpp>
#include <youbot_driver/youbot/ProtocolDefinitions.hpp>
#include <youbot_driver/youbot/YouBotSlaveMsg.hpp>
#include <youbot_driver/youbot/YouBotSlaveMailboxMsg.hpp>
#include <youbot_driver/youbot/EthercatMaster.hpp>
#include <youbot_driver/youbot/JointTrajectoryController.hpp>
#include <youbot_driver/youbot/JointLimitMonitor.hpp>

extern "C"
{
#include <youbot_driver/soem/ethercattype.h>
#include <youbot_driver/soem/ethercatmain.h>
}

namespace youbot
{

class EthercatMasterWithThread : public EthercatMasterInterface
{
  friend class EthercatMaster;
  friend class YouBotJoint;
  friend class YouBotGripper;
  friend class YouBotGripperBar;
private:
  EthercatMasterWithThread(const std::string& configFile, const std::string& configFilePath);

  ~EthercatMasterWithThread();

public:
  bool isThreadActive();

  unsigned int getNumberOfSlaves() const;

  void AutomaticSendOn(const bool enableAutomaticSend);

  void AutomaticReceiveOn(const bool enableAutomaticReceive);

  void getEthercatDiagnosticInformation(std::vector<ec_slavet>& ethercatSlaveInfos);

  bool sendProcessData();

  bool receiveProcessData();

  bool isErrorInSoemDriver();

  void registerJointTrajectoryController(JointTrajectoryController* object, const unsigned int JointNumber);

  void deleteJointTrajectoryControllerRegistration(const unsigned int JointNumber);

  unsigned int getNumberOfThreadCyclesPerSecond();

  bool isEtherCATConnectionEstablished();

  void registerJointLimitMonitor(JointLimitMonitor* object, const unsigned int JointNumber);

  void registerDataTrace(void* object, const unsigned int JointNumber);

  void deleteDataTraceRegistration(const unsigned int JointNumber);

private:
  void initializeEthercat();

  bool closeEthercat();

  void setMsgBuffer(const YouBotSlaveMsg& msgBuffer, const unsigned int jointNumber);

  void getMsgBuffer(const unsigned int jointNumber, YouBotSlaveMsg& returnMsg);

  void setMailboxMsgBuffer(const YouBotSlaveMailboxMsg& msgBuffer, const unsigned int jointNumber);

  bool getMailboxMsgBuffer(YouBotSlaveMailboxMsg& mailboxMsg, const unsigned int jointNumber);

  bool sendMailboxMessage(const YouBotSlaveMailboxMsg& mailboxMsg);

  bool receiveMailboxMessage(YouBotSlaveMailboxMsg& mailboxMsg);

  void updateSensorActorValues();

  void parseYouBotErrorFlags(const YouBotSlaveMsg& messageBuffer);

  std::string ethernetDevice;

  char IOmap_[4096];

  ec_mbxbuft mailboxBuffer;

  unsigned int nrOfSlaves;

  std::vector<SlaveMessageOutput*> ethercatOutputBufferVector;

  std::vector<SlaveMessageInput*> ethercatInputBufferVector;

  std::vector<YouBotSlaveMsgThreadSafe> slaveMessages;

  std::vector<ec_slavet> ethercatSlaveInfo;

  unsigned int ethercatTimeout;

  //in microseconds
  unsigned int timeTillNextEthercatUpdate;

  boost::thread_group threads;

  volatile bool stopThread;

  ec_mbxbuft mailboxBufferSend;

  ec_mbxbuft mailboxBufferReceive;

  std::vector<YouBotSlaveMsg> automaticSendOffBufferVector;

  std::vector<YouBotSlaveMsg> automaticReceiveOffBufferVector;

  std::vector<YouBotSlaveMailboxMsgThreadSafe> mailboxMessages;

  unsigned int mailboxTimeout;

  std::vector<bool> newInputMailboxMsgFlag;

  std::vector<bool> outstandingMailboxMsgFlag;

  std::vector<bool> pendingMailboxMsgsReply;

  ConfigFile* configfile;

  static std::string configFileName;

  static std::string configFilepath;

  bool automaticSendOn;

  bool automaticReceiveOn;

  bool ethercatConnectionEstablished;

  long int communicationErrors;

  long int maxCommunicationErrors;

  std::vector<JointTrajectoryController*> trajectoryControllers;

  boost::mutex trajectoryControllerVectorMutex;

  std::vector<JointLimitMonitor*> jointLimitMonitors;

  boost::mutex jointLimitMonitorVectorMutex;

  std::vector<void*> dataTraces;

  boost::mutex dataTracesMutex;

};

} // namespace youbot
#endif