YouBotJointParameterReadOnly.hpp

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#ifndef YOUBOT_YOUBOTJOINTPARAMETERREADONLY_H
#define YOUBOT_YOUBOTJOINTPARAMETERREADONLY_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 <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-joint/JointParameter.hpp>
#include <youbot_driver/youbot/ProtocolDefinitions.hpp>
#include <youbot_driver/youbot/YouBotSlaveMsg.hpp>
#include <youbot_driver/youbot/YouBotSlaveMailboxMsg.hpp>
#include <youbot_driver/youbot/YouBotJointStorage.hpp>
namespace youbot
{

class YouBotJointParameterReadOnly : public JointParameter
{
  friend class YouBotJoint;
protected:
  YouBotJointParameterReadOnly();

public:
  virtual ~YouBotJointParameterReadOnly();

  virtual void toString(std::string& value) = 0;

protected:
  virtual void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                                   const YouBotJointStorage& storage) const = 0;

  virtual void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage) = 0;

  virtual std::string getName() const = 0;

  virtual ParameterType getType() const = 0;

  std::string name;

  ParameterType parameterType;

};
class ActualMotorVoltage : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
public:
  ActualMotorVoltage();

  virtual ~ActualMotorVoltage();

  void getParameter(quantity<electric_potential>& parameter) const;

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<electric_potential> value;

  std::string name;

  ParameterType parameterType;

};
class ErrorAndStatus : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
public:
  ErrorAndStatus();

  virtual ~ErrorAndStatus();

  void getParameter(unsigned int& parameter) const;

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  void parseYouBotErrorFlags() const;

  unsigned int value;

  std::string name;

  ParameterType parameterType;

};
class PositionError : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
public:
  PositionError();

  virtual ~PositionError();

  void getParameter(quantity<plane_angle>& parameter) const;

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<plane_angle> value;

  std::string name;

  ParameterType parameterType;

};
class PositionErrorSum : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
public:
  PositionErrorSum();

  virtual ~PositionErrorSum();

  void getParameter(quantity<plane_angle>& parameter) const;

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<plane_angle> value;

  std::string name;

  ParameterType parameterType;

};
class VelocityError : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
public:
  VelocityError();

  virtual ~VelocityError();

  void getParameter(quantity<si::angular_velocity>& parameter) const;

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<si::angular_velocity> value;

  std::string name;

  ParameterType parameterType;

};
class VelocityErrorSum : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
public:
  VelocityErrorSum();

  virtual ~VelocityErrorSum();

  void getParameter(quantity<si::angular_velocity>& parameter) const;

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<si::angular_velocity> value;

  std::string name;

  ParameterType parameterType;

};
class CurrentError : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
public:
  CurrentError();

  virtual ~CurrentError();

  void getParameter(quantity<si::current>& parameter) const;

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<si::current> value;

  std::string name;

  ParameterType parameterType;

};
class CurrentErrorSum : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
public:
  CurrentErrorSum();

  virtual ~CurrentErrorSum();

  void getParameter(quantity<si::current>& parameter) const;

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<si::current> value;

  std::string name;

  ParameterType parameterType;

};
class RampGeneratorSpeed : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
public:
  RampGeneratorSpeed();

  virtual ~RampGeneratorSpeed();

  void getParameter(quantity<si::angular_velocity>& parameter) const;

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<si::angular_velocity> value;

  std::string name;

  ParameterType parameterType;

};
class I2tSum : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
public:
  I2tSum();

  virtual ~I2tSum();

  void getParameter(unsigned int& parameter) const;

  void setParameter(const unsigned int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  unsigned int upperLimit;

  unsigned int lowerLimit;

  unsigned int value;

  std::string name;

  ParameterType parameterType;

};
class ActualMotorDriverTemperature : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
public:
  ActualMotorDriverTemperature();

  virtual ~ActualMotorDriverTemperature();

  void getParameter(quantity<celsius::temperature>& parameter) const;

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<celsius::temperature> value;

  std::string name;

  ParameterType parameterType;

};
class ActualModuleSupplyCurrent : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
public:
  ActualModuleSupplyCurrent();

  virtual ~ActualModuleSupplyCurrent();

  void getParameter(quantity<si::current>& parameter) const;

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<si::current> value;

  std::string name;

  ParameterType parameterType;

};

} // namespace youbot
#endif