sr_actuator.hpp

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/*
* Copyright 2011 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the 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 General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef _SR_ACTUATOR_HPP_
#define _SR_ACTUATOR_HPP_

#include "sr_hardware_interface/tactile_sensors.hpp"
#include <ros_ethercat_model/hardware_interface.hpp>

#include <utility>
#include <string>
#include <vector>

namespace sr_actuator
{
class SrActuatorState
{
public:
  SrActuatorState() :
          position_unfiltered_(0.0),
          can_msgs_received_(0),
          can_msgs_transmitted_(0),
          pic_firmware_git_revision_(0),
          server_firmware_git_revision_(0),
          firmware_modified_(0),
          serial_number_low_set(false),
          serial_number_high_set(false),
          serial_number_low(0),
          serial_number_high(0),
          serial_number(0),
          assembly_data_year(0),
          assembly_data_month(0),
          assembly_data_day(0),
          tests_(0),
          can_error_counters(0)
  {
  }

  // Serial number is composed of a low and a high byte.
  void set_serial_number_low(unsigned int serial)
  {
    serial_number_low = serial;
    serial_number_low_set = true;

    if (serial_number_high_set)
    {
      // we received both bytes
      compute_serial();
    }
  };

  void set_serial_number_high(unsigned int serial)
  {
    serial_number_high = serial;
    serial_number_high_set = true;

    if (serial_number_low_set)
    {
      // we received both bytes
      compute_serial();
    }
  };

  void compute_serial()
  {
    serial_number = serial_number_low + (serial_number_high * 65536);
  };

  double position_unfiltered_;

  uint64_t can_msgs_received_;
  uint64_t can_msgs_transmitted_;

  unsigned int pic_firmware_git_revision_;
  unsigned int server_firmware_git_revision_;
  bool firmware_modified_;

  bool serial_number_low_set;
  bool serial_number_high_set;
  unsigned int serial_number_low;
  unsigned int serial_number_high;
  unsigned int serial_number;

  unsigned int assembly_data_year;
  unsigned int assembly_data_month;
  unsigned int assembly_data_day;

  int tests_;
  unsigned int can_error_counters;

  std::vector<int> raw_sensor_values_;
  std::vector<double> calibrated_sensor_values_;

  std::vector<std::pair<std::string, bool> > flags_;

  std::vector<tactiles::AllTactileData> *tactiles_;
};  // end class SrActuatorState

class SrMotorActuatorState :
        public SrActuatorState
{
public:
  SrMotorActuatorState() :
          strain_gauge_left_(0),
          strain_gauge_right_(0),
          force_unfiltered_(0.0),
          pwm_(0),
          motor_gear_ratio(0),
          force_control_f_(0),
          force_control_p_(0),
          force_control_i_(0),
          force_control_d_(0),
          force_control_imax_(0),
          force_control_deadband_(0),
          force_control_sign_(0),
          force_control_frequency_(0),
          temperature_(0.0)
  {
  }

  int16_t strain_gauge_left_;
  int16_t strain_gauge_right_;

  double force_unfiltered_;

  int pwm_;

  unsigned int motor_gear_ratio;

  int force_control_f_;
  int force_control_p_;
  int force_control_i_;
  int force_control_d_;
  int force_control_imax_;
  int force_control_deadband_;
  int force_control_sign_;
  int force_control_frequency_;

  int force_control_pterm;
  int force_control_iterm;
  int force_control_dterm;
  double temperature_;
};  // end class SrMotorActuatorState

class SrMuscleActuatorState :
        public SrActuatorState
{
public:
  SrMuscleActuatorState() :
          pressure_(),
          last_commanded_valve_()
  {
  }

  uint16_t pressure_[2];
  int8_t last_commanded_valve_[2];
};  // end class SrMuscleActuatorState

class SrMuscleActuatorCommand
{
public:
  SrMuscleActuatorCommand() :
          valve_()
  {
  }

  int8_t valve_[2];
};  // end class SrMuscleActuatorCommand

class SrMotorActuator :
        public ros_ethercat_model::Actuator
{
public:
  SrMotorActuatorState motor_state_;
};  // end class SrMotorActuator

class SrMuscleActuator :
        public ros_ethercat_model::Actuator
{
public:
  SrMuscleActuatorState muscle_state_;
  SrMuscleActuatorCommand muscle_command_;
};  // end class SrMotorActuator
}  // namespace sr_actuator

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
 */

#endif