iCub-main
CanBusSkin.h
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1 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 
3 // Copyright: (C) 2010 RobotCub Consortium
4 // Authors: Lorenzo Natale, Francesco Giovannini
5 // CopyPolicy: Released under the terms of the GNU GPL v2.0.
6 
7 #ifndef __CANBUSSKIN_H__
8 #define __CANBUSSKIN_H__
9 
10 #include <mutex>
11 #include <string>
12 
13 #include <yarp/os/PeriodicThread.h>
14 #include <yarp/dev/ControlBoardInterfaces.h>
15 #include <yarp/dev/IAnalogSensor.h>
16 #include <yarp/dev/PolyDriver.h>
17 #include <yarp/dev/CanBusInterface.h>
18 #include <yarp/sig/Vector.h>
19 #include <yarp/os/BufferedPort.h>
20 
21 
22 #include "SkinConfigReader.h"
23 #include <SkinDiagnostics.h>
24 
25 
26 class CanBusSkin : public yarp::os::PeriodicThread, public yarp::dev::IAnalogSensor, public yarp::dev::DeviceDriver
27 {
28 private:
29 
30  bool _verbose;
31 
32 
33  /* *************************************************************************************** */
34  // CAN Message parameters
35  // 4C Message
36  yarp::os::Bottle msg4C_Timer;
37  yarp::os::Bottle msg4C_CDCOffsetL;
38  yarp::os::Bottle msg4C_CDCOffsetH;
39  yarp::os::Bottle msg4C_TimeL;
40  yarp::os::Bottle msg4C_TimeH;
41 
42  //4E Message
43  yarp::os::Bottle msg4E_Shift;
44  yarp::os::Bottle msg4E_Shift3_1;
45  yarp::os::Bottle msg4E_NoLoad;
46  yarp::os::Bottle msg4E_Param;
47  yarp::os::Bottle msg4E_EnaL;
48  yarp::os::Bottle msg4E_EnaH;
49  /* *************************************************************************************** */
50 
52  yarp::os::BufferedPort<yarp::sig::Vector> portSkinDiagnosticsOut;
53 
54  /****************** new cfg **********************************/
55  SkinBoardCfgParam _brdCfg;
56  SkinTriangleCfgParam _triangCfg;
57  bool _newCfg;
58  SkinConfigReader _cfgReader;
59  int _canBusNum;
60  /*************************************************************/
61 
62  /****************** diagnostic********************************/
63  bool _isDiagnosticPresent; // is the diagnostic available from the firmware
64  /*************************************************************/
65 
66 protected:
67  yarp::dev::PolyDriver driver;
68  yarp::dev::ICanBus *pCanBus;
69  yarp::dev::ICanBufferFactory *pCanBufferFactory;
70  yarp::dev::CanBuffer inBuffer;
71  yarp::dev::CanBuffer outBuffer;
72 
73  std::mutex mtx;
74 
76  int netID;
77 
78  yarp::sig::VectorOf<int> cardId;
80 
81  yarp::sig::Vector data;
82 
84  yarp::sig::VectorOf<iCub::skin::diagnostics::DetectedError> errors;
85 
86 public:
87  CanBusSkin();
89 
90  virtual bool open(yarp::os::Searchable& config);
91  virtual bool close();
92  virtual bool threadInit();
93  virtual void threadRelease();
94  virtual void run();
95 
96  //IAnalogSensor interface
97  virtual int read(yarp::sig::Vector &out);
98  virtual int getState(int ch);
99  virtual int getChannels();
100  virtual int calibrateSensor();
101  virtual int calibrateChannel(int ch, double v);
102 
103  virtual int calibrateSensor(const yarp::sig::Vector& v);
104  virtual int calibrateChannel(int ch);
105 
106 private:
112  bool diagnoseSkin(void);
113 
123  void checkParameterListLength(const std::string &i_paramName, yarp::os::Bottle &i_paramList, const int &i_length, const yarp::os::Value &i_defaultValue);
124 
128  bool sendCANMessage4C(void);
129  bool checkFirmwareVersion(void);
130 
134  bool sendCANMessage4E(void);
135 
139  bool sendCANMessage(uint8_t destAddr, uint8_t command, void *data);
140 
144  bool readOldConfiguration(yarp::os::Searchable& config);
145 
149  bool readNewConfiguration(yarp::os::Searchable& config);
150 
154  bool readNewSpecialConfiguration(yarp::os::Searchable& config);
155 };
156 
157 #endif
virtual int getState(int ch)
Definition: CanBusSkin.cpp:552
yarp::sig::VectorOf< iCub::skin::diagnostics::DetectedError > errors
The detected skin errors.
Definition: CanBusSkin.h:84
virtual void threadRelease()
Definition: CanBusSkin.cpp:700
yarp::dev::CanBuffer inBuffer
Definition: CanBusSkin.h:70
yarp::sig::VectorOf< int > cardId
Definition: CanBusSkin.h:78
yarp::sig::Vector data
Definition: CanBusSkin.h:81
yarp::dev::CanBuffer outBuffer
Definition: CanBusSkin.h:71
yarp::dev::ICanBufferFactory * pCanBufferFactory
Definition: CanBusSkin.h:69
virtual bool threadInit()
Definition: CanBusSkin.cpp:585
yarp::dev::ICanBus * pCanBus
Definition: CanBusSkin.h:68
virtual int getChannels()
Definition: CanBusSkin.cpp:557
virtual int read(yarp::sig::Vector &out)
Definition: CanBusSkin.cpp:545
virtual bool close()
Definition: CanBusSkin.cpp:523
std::mutex mtx
Definition: CanBusSkin.h:73
yarp::dev::PolyDriver driver
Definition: CanBusSkin.h:67
virtual void run()
Definition: CanBusSkin.cpp:594
virtual bool open(yarp::os::Searchable &config)
Definition: CanBusSkin.cpp:40
virtual int calibrateSensor()
Definition: CanBusSkin.cpp:562
int netID
The CAN net ID.
Definition: CanBusSkin.h:76
virtual int calibrateChannel(int ch, double v)
Definition: CanBusSkin.cpp:569
int sensorsNum
Definition: CanBusSkin.h:79
static int v
Definition: iCub_Sim.cpp:42
out
Definition: sine.m:8