CanBusSkin.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
// Copyright: (C) 2010 RobotCub Consortium
// Authors: Lorenzo Natale, Francesco Giovannini
// CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
#ifndef __CANBUSSKIN_H__
#define __CANBUSSKIN_H__
 
#include <mutex>
#include <string>
 
#include <yarp/os/PeriodicThread.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/IAnalogSensor.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/CanBusInterface.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/BufferedPort.h>
 
 
#include "SkinConfigReader.h"
#include <SkinDiagnostics.h>
 
 
class CanBusSkin : public yarp::os::PeriodicThread, public yarp::dev::IAnalogSensor, public yarp::dev::DeviceDriver 
{
private:
 
    bool _verbose;
 
 
    /* *************************************************************************************** */
    // CAN Message parameters
    // 4C Message
    yarp::os::Bottle msg4C_Timer;
    yarp::os::Bottle msg4C_CDCOffsetL;
    yarp::os::Bottle msg4C_CDCOffsetH;
    yarp::os::Bottle msg4C_TimeL;
    yarp::os::Bottle msg4C_TimeH;
    
    //4E Message
    yarp::os::Bottle msg4E_Shift;
    yarp::os::Bottle msg4E_Shift3_1;
    yarp::os::Bottle msg4E_NoLoad;
    yarp::os::Bottle msg4E_Param;
    yarp::os::Bottle msg4E_EnaL;
    yarp::os::Bottle msg4E_EnaH;
    /* *************************************************************************************** */
 
    yarp::os::BufferedPort<yarp::sig::Vector> portSkinDiagnosticsOut;
    
    /****************** new cfg **********************************/
    SkinBoardCfgParam       _brdCfg;
    SkinTriangleCfgParam    _triangCfg;
    bool                    _newCfg;
    SkinConfigReader        _cfgReader;
    int                     _canBusNum;
    /*************************************************************/
 
    /****************** diagnostic********************************/
    bool _isDiagnosticPresent;       // is the diagnostic available from the firmware
    /*************************************************************/
 
protected:
    yarp::dev::PolyDriver driver;
    yarp::dev::ICanBus *pCanBus;
    yarp::dev::ICanBufferFactory *pCanBufferFactory;
    yarp::dev::CanBuffer inBuffer;
    yarp::dev::CanBuffer outBuffer;
 
    std::mutex mtx;
 
    int netID;
 
    yarp::sig::VectorOf<int> cardId;
    int sensorsNum;
 
    yarp::sig::Vector data;
 
    yarp::sig::VectorOf<iCub::skin::diagnostics::DetectedError> errors;
 
public:
    CanBusSkin();
    ~CanBusSkin() {}
 
    virtual bool open(yarp::os::Searchable& config);
    virtual bool close();
    virtual bool threadInit();
    virtual void threadRelease();
    virtual void run();
   
    //IAnalogSensor interface
    virtual int read(yarp::sig::Vector &out);
    virtual int getState(int ch);
    virtual int getChannels();
    virtual int calibrateSensor();
    virtual int calibrateChannel(int ch, double v);
 
    virtual int calibrateSensor(const yarp::sig::Vector& v);
    virtual int calibrateChannel(int ch);
 
private:
    bool diagnoseSkin(void);
 
    void checkParameterListLength(const std::string &i_paramName, yarp::os::Bottle &i_paramList, const int &i_length, const yarp::os::Value &i_defaultValue);
    
    bool sendCANMessage4C(void);
    bool checkFirmwareVersion(void);
 
    bool sendCANMessage4E(void);
 
    bool sendCANMessage(uint8_t destAddr, uint8_t command, void *data);
 
    bool readOldConfiguration(yarp::os::Searchable& config);
 
    bool readNewConfiguration(yarp::os::Searchable& config);
 
    bool readNewSpecialConfiguration(yarp::os::Searchable& config);
};
 
#endif