CanBusFtSensor.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
// Copyright: (C) 2013 iCub Facility
// Authors: Marco Randazzo <marco.randazzo@iit.it> Valentina Vasco <valentina.vasco@iit.it>
// CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
#ifndef __CANBUSFTSENSOR_H__
#define __CANBUSFTSENSOR_H__
 
#include <mutex>
#include <yarp/os/PeriodicThread.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/CanBusInterface.h>
#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
#include <yarp/sig/Vector.h>
 
using namespace yarp::os;
using namespace yarp::dev;
 
class CanBusFtSensor : public PeriodicThread,
                           public DeviceDriver,
                           public yarp::dev::ISixAxisForceTorqueSensors
{
    enum AnalogDataFormat
    {
        ANALOG_FORMAT_ERR    = 0,
        ANALOG_FORMAT_8_BIT  = 8,
        ANALOG_FORMAT_16_BIT = 16,
    };
 
    enum SensorStatus
    {
        ANALOG_IDLE=0,
        ANALOG_OK=1,
        ANALOG_NOT_RESPONDING=-1,
        ANALOG_SATURATION=-2,
        ANALOG_ERROR=-3,
    };
 
protected:
    PolyDriver         driver;
    ICanBus            *pCanBus;
    ICanBufferFactory  *pCanBufferFactory;
    CanBuffer          inBuffer;
    CanBuffer          outBuffer;
    int                canDeviceNum;
 
    mutable std::mutex mtx;
 
    unsigned int       channelsNum;
    unsigned short     boardId;
    short              status;
    double             timeStamp;
    AnalogDataFormat   dataFormat;
    yarp::sig::Vector  data;
    yarp::sig::Vector  scaleFactor;
    unsigned short     useCalibration;
    bool               diagnostic;
    std::string        sensorName;
    std::string        frameName;
 
public:
    CanBusFtSensor(int period=20) : PeriodicThread((double)period/1000.0)
    {}
 
 
    ~CanBusFtSensor()
    {
    }
 
    virtual bool open(yarp::os::Searchable& config);
    virtual bool close();
 
    virtual bool threadInit();
    virtual void threadRelease();
    virtual void run();
 
    // ISixAxisForceTorqueSensors
    virtual size_t getNrOfSixAxisForceTorqueSensors() const override;
    virtual yarp::dev::MAS_status getSixAxisForceTorqueSensorStatus(size_t sens_index) const override;
    virtual bool getSixAxisForceTorqueSensorName(size_t sens_index, std::string &name) const override;
    virtual bool getSixAxisForceTorqueSensorFrameName(size_t sens_index, std::string &frameName) const override;
    virtual bool getSixAxisForceTorqueSensorMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const override;
 
    //internal methods
    private:
    bool decode8 (const unsigned char *msg, int msg_id, double *data);
    bool decode16(const unsigned char *msg, int msg_id, double *data);
    bool sensor_start (yarp::os::Searchable& config);
    bool sensor_stop  ();
    bool readFullScaleAnalog(int ch);
};
 
 
#endif