sdhbase.h

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/*
 * Copyright (c) 2007 SCHUNK GmbH & Co. KG
 * Copyright (c) 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

//======================================================================
//======================================================================

#ifndef SDHBASE_H_
#define SDHBASE_H_

#include "sdhlibrary_settings.h"

#if SDH_USE_VCC
# pragma warning(disable : 4290)
#endif

//----------------------------------------------------------------------
// System Includes - include with <>
//----------------------------------------------------------------------

#include "iostream"

//----------------------------------------------------------------------
// Project Includes - include with ""
//----------------------------------------------------------------------

#include "dbg.h"
#include "sdhexception.h"
#include "simplevector.h"

//----------------------------------------------------------------------
// Defines, enums, unions, structs,
//----------------------------------------------------------------------

NAMESPACE_SDH_START


//----------------------------------------------------------------------
// Global variables
//----------------------------------------------------------------------

extern VCC_EXPORT std::ostream* g_sdh_debug_log;

//----------------------------------------------------------------------
// Function declarations
//----------------------------------------------------------------------


//----------------------------------------------------------------------
// Class declarations
//----------------------------------------------------------------------

class VCC_EXPORT cSDHErrorInvalidParameter: public cSDHLibraryException
{
public:
  cSDHErrorInvalidParameter(cMsg const & _msg)
    : cSDHLibraryException("cSDHErrorInvalidParameter", _msg)
  {}
};
//======================================================================

class VCC_EXPORT cSDHBase
{
public:

  enum
  {
    All = -1 
  };


  enum eErrorCode
  {
    eEC_SUCCESS = 0,
    eEC_NOT_AVAILABLE,
    eEC_NOT_INITIALIZED,
    eEC_ALREADY_RUNNING,
    eEC_FEATURE_NOT_SUPPORTED,
    eEC_INCONSISTENT_DATA,
    eEC_TIMEOUT,
    eEC_READ_ERROR,
    eEC_WRITE_ERROR,
    eEC_INSUFFICIENT_RESOURCES,
    eEC_CHECKSUM_ERROR,
    eEC_NOT_ENOUGH_PARAMS,
    eEC_NO_PARAMS_EXPECTED,
    eEC_CMD_UNKNOWN,
    eEC_CMD_FORMAT_ERROR,
    eEC_ACCESS_DENIED,
    eEC_ALREADY_OPEN,
    eEC_CMD_FAILED,
    eEC_CMD_ABORTED,
    eEC_INVALID_HANDLE,
    eEC_DEVICE_NOT_FOUND,
    eEC_DEVICE_NOT_OPENED,
    eEC_IO_ERROR,
    eEC_INVALID_PARAMETER,
    eEC_RANGE_ERROR,
    eEC_NO_DATAPIPE,
    eEC_INDEX_OUT_OF_BOUNDS,
    eEC_HOMING_ERROR,
    eEC_AXIS_DISABLED,
    eEC_OVER_TEMPERATURE,
    eEC_MAX_COMMANDS_EXCEEDED,
    eEC_INVALID_PASSWORD,
    eEC_MAX_COMMANDLINE_EXCEEDED,
    eEC_CRC_ERROR,
    eEC_NO_COMMAND,

    eEC_INTERNAL,
    eEC_UNKNOWN_ERROR,

    eEC_DIMENSION         
  };


  enum eGraspId
  {
    // ??? fehlt e vor enums:
    eGID_INVALID = -1,    
    eGID_CENTRICAL = 0,   
    eGID_PARALLEL = 1,    
    eGID_CYLINDRICAL = 2, 
    eGID_SPHERICAL = 3,   

    eGID_DIMENSION        
  };


  enum eControllerType
  {
    eCT_INVALID = -1,          
    eCT_POSE = 0,              
    eCT_VELOCITY,              
    eCT_VELOCITY_ACCELERATION, 

// TODO: not implemented yet
//        eCT_POSITION,              //!< position controller, positions of axes are controlled independently  (not implemented in %SDH firmwares up to and including 0.0.2.5)

    eCT_DIMENSION         
  };


  enum eVelocityProfile
  {
    eVP_INVALID = -1,  
    eVP_SIN_SQUARE,    
    eVP_RAMP,          

    eVP_DIMENSION      
  };

  //-----------------------------------------------------------------
  cSDHBase(int debug_level);


  //-----------------------------------------------------------------
  virtual ~cSDHBase()
  {}


  void CheckIndex(int index, int maxindex, char const* name = "")
  throw (cSDHErrorInvalidParameter*);


  void CheckRange(double value, double minvalue, double maxvalue, char const* name = "")
  throw (cSDHErrorInvalidParameter*);


  void CheckRange(double* values, double* minvalues, double* maxvalues, char const* name = "")
  throw (cSDHErrorInvalidParameter*);


  static char const* GetStringFromErrorCode(eErrorCode error_code);


  static char const* GetStringFromGraspId(eGraspId grasp_id);


  static char const* GetStringFromControllerType(eControllerType controller_type);


  int GetNumberOfAxes(void);


  int GetNumberOfFingers(void);


  int GetNumberOfTemperatureSensors(void);


  eErrorCode GetFirmwareState(void);


  double GetEps(void);


  cSimpleVector const & GetEpsVector(void);


  virtual bool IsOpen(void) = 0;

  virtual void SetDebugOutput(std::ostream* debuglog)
  {
    cdbg.SetOutput(debuglog);
  }
protected:
  cDBG cdbg;

  int debug_level;

  static char const* firmware_error_codes[];


  static char const* grasp_id_name[];


  static char const* controller_type_name[];
  //---------------------

  int NUMBER_OF_AXES;

  int NUMBER_OF_FINGERS;

  int NUMBER_OF_TEMPERATURE_SENSORS;

  int all_axes_used;

  eErrorCode firmware_state;

  double eps;

  cSimpleVector eps_v;

  //cSimpleVector zeros_v;

  //cSimpleVector ones_v;

  cSimpleVector min_angle_v;

  cSimpleVector max_angle_v;

};

// end of class cSDHBase
//=====================================================================

NAMESPACE_SDH_END

#endif


//======================================================================
/*
  Here are some settings for the emacs/xemacs editor (and can be safely ignored):
  (e.g. to explicitely set C++ mode for *.h header files)

  Local Variables:
  mode:C++
  mode:ELSE
  End:
*/
//======================================================================