YouBotJoint.hpp

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#ifndef YOUBOT_YOUBOTJOINT_H
#define YOUBOT_YOUBOTJOINT_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 <cmath>
#include <boost/thread.hpp>
#include <boost/scoped_ptr.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-joint/Joint.hpp>
#include <youbot_driver/generic-joint/JointData.hpp>
#include <youbot_driver/youbot/YouBotJointStorage.hpp>
#include <youbot_driver/youbot/ProtocolDefinitions.hpp>
#include <youbot_driver/youbot/YouBotJointParameter.hpp>
#include <youbot_driver/youbot/YouBotJointParameterPasswordProtected.hpp>
#include <youbot_driver/youbot/YouBotSlaveMsg.hpp>
#include <youbot_driver/youbot/YouBotSlaveMailboxMsg.hpp>
#include <youbot_driver/youbot/EthercatMaster.hpp>
#include <youbot_driver/youbot/EthercatMasterInterface.hpp>
#include <youbot_driver/youbot/EthercatMasterWithThread.hpp>
#include <youbot_driver/youbot/EthercatMasterWithoutThread.hpp>
#include <youbot_driver/youbot/JointTrajectoryController.hpp>
#include <youbot_driver/youbot/JointLimitMonitor.hpp>

namespace youbot
{

class YouBotJoint : public Joint
{
public:
  YouBotJoint(const unsigned int jointNo, const std::string& configFilePath);

  ~YouBotJoint();

private:
  YouBotJoint(const YouBotJoint & source);

  YouBotJoint & operator=(const YouBotJoint & source);

protected:
  virtual void setConfigurationParameter(const JointParameter& parameter);

  virtual void getConfigurationParameter(JointParameter& parameter);

public:
  virtual void getConfigurationParameter(YouBotJointParameterReadOnly& parameter);

  virtual void getConfigurationParameter(YouBotJointParameter& parameter);

  virtual void setConfigurationParameter(const YouBotJointParameter& parameter);

  virtual void getConfigurationParameter(JointName& parameter);

  virtual void setConfigurationParameter(const JointName& parameter);

  virtual void getConfigurationParameter(GearRatio& parameter);

  virtual void setConfigurationParameter(const GearRatio& parameter);

  virtual void getConfigurationParameter(EncoderTicksPerRound& parameter);

  virtual void setConfigurationParameter(const EncoderTicksPerRound& parameter);

  virtual void setConfigurationParameter(const CalibrateJoint& parameter);

  virtual void setConfigurationParameter(const InverseMovementDirection& parameter);

  virtual void getConfigurationParameter(InverseMovementDirection& parameter);

  virtual void setConfigurationParameter(const JointLimits& parameter);

  virtual void getConfigurationParameter(JointLimits& parameter);

  virtual void getConfigurationParameter(JointLimitsRadian& parameter);

  virtual void setConfigurationParameter(const InitializeJoint& parameter);

  virtual void getConfigurationParameter(FirmwareVersion& parameter);

  virtual void setConfigurationParameter(const YouBotSlaveMailboxMsg& parameter);

  virtual void getConfigurationParameter(YouBotSlaveMailboxMsg& parameter);

  virtual void getConfigurationParameter(TorqueConstant& parameter);

  virtual void setConfigurationParameter(const TorqueConstant& parameter);

  void storeConfigurationParameterPermanent(const YouBotJointParameter& parameter);

  void restoreConfigurationParameter(YouBotJointParameter& parameter);

protected:
  virtual void setData(const JointDataSetpoint& data);

  virtual void getData(JointData& data);

public:
  virtual void setData(const JointAngleSetpoint& data);

  virtual void setData(const JointEncoderSetpoint& data);

  virtual void getData(JointSensedAngle& data);

  virtual void setData(const JointVelocitySetpoint& data);

  virtual void getData(JointSensedVelocity& data);

  virtual void getData(JointSensedRoundsPerMinute& data);

  virtual void setData(const JointRoundsPerMinuteSetpoint& data);

  virtual void getData(JointSensedCurrent& data);

  virtual void setData(const JointCurrentSetpoint& data);

  virtual void getData(JointSensedEncoderTicks& data);

  virtual void setData(const SlaveMessageOutput& data);

  virtual void getData(YouBotSlaveMsg& data);

  virtual void setData(const JointTorqueSetpoint& data);

  virtual void getData(JointSensedTorque& data);

  virtual void getData(JointAngleSetpoint& data);

  virtual void getData(JointVelocitySetpoint& data);

  virtual void getData(JointCurrentSetpoint& data);

  virtual void getData(JointRampGeneratorVelocity& data);

  void getUserVariable(const unsigned int index, int& data);

  void setUserVariable(const unsigned int index, const int data);

  virtual void getStatus(std::vector<std::string>& statusMessages);

  virtual void getStatus(unsigned int& statusFlags);

  void setEncoderToZero();

  void noMoreAction();

  void stopJoint();

  unsigned int getJointNumber();

private:
  void parseYouBotErrorFlags(const YouBotSlaveMsg& messageBuffer);

  void parseMailboxStatusFlags(const YouBotSlaveMailboxMsg& mailboxMsg);

  bool retrieveValueFromMotorContoller(YouBotSlaveMailboxMsg& message);

  bool setValueToMotorContoller(const YouBotSlaveMailboxMsg& mailboxMsg);

public:
  JointTrajectoryController trajectoryController;

private:
  EthercatMasterInterface* ethercatMaster;

  bool positionReferenceToZero;

  unsigned int timeTillNextMailboxUpdate;

  unsigned int mailboxMsgRetries;

  YouBotJointStorage storage;

  YouBotSlaveMsg messageBuffer;

  quantity<si::angular_velocity> lastVelocity;

  quantity<plane_angle> lastPosition;

  boost::scoped_ptr<JointLimitMonitor> limitMonitor;

};

} // namespace youbot
#endif