IethResource.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/* Copyright (C) 2014  iCub Facility, Istituto Italiano di Tecnologia
 * Author: Marco Accame
 * email: marco.accame@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * 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
 */
 
//
// $Id: TheEthManager.h,v 1.5 2008/06/25 22:33:53 nat Exp $
//
//
 
#ifndef __IethResource__
#define __IethResource__
 
 
#include "EoProtocol.h"
 
 
// marco.accame on 20 oct 2014.
// the objects which use ethResource to communicate with the ethernet boards inside the robot
// must be derived from this class IethResource.
// these objects are: embObjMotionControl, embObjSkin, embObjAnalogSensor, and future ones.
// these object must implement the virtual functions initialised() and update() so that:
// - initialised() must return true only if the object is opened (its method open() has returned).
// - update() takes care of filling private data structures with bytes contained in the relevant ROPs coming from remote boards.
//   as an example, see how the skin data is moved from ems board to embObjSkin.
//   when a ROP containing a EOarray of skin data arrives, the callback eoprot_fun_UPDT_sk_skin_status_arrayof10canframes() is called.
//   this function calls feat_manage_skin_data() and passes the boardnumber, the id32, and the pointer to the received EOarray.
//   this function uses TheEthManager::getHandle() to retrieve a pointer to the relevant IethResource which matches (boardnumber, id32)
//   the pointer is used directly or transformed with dynamic_cast to a pointer to embObjSkin and the function update() is called.
//   needless to say, the update(0 function whcich is called is always the embObjSkin::update() which gets the EOarray and copies its
//   items inside embObjSkin::data.
//
// warning: the caller of function embObjSkin::update() is the ethReceiver thread. if it writes something into embObjSkin::data,
//          and the same embObjSkin::data is read by other threads via EmbObjSkin::read(), then ..... the two concurrent operations
//          must be protected with a mutex.
//          the rxdata passed from eoprot_fun_UPDT_sk_skin_status_arrayof10canframes() upto embObjSkin::update() does not need to be
//          protected vs concurrent use because ... the only thread which writes into it is the caller of teh function: the ethReceiver thread
//
// the name of the class is IethResource because this class acts as an interface from ethResource which is the one which
// manages decoding of received UDP packets and calls the callbacks of the EOnv which in turn call IethResource::update().
//
 
 
namespace eth {
 
    typedef enum
    {
        iethres_none            = 255,
        iethres_management      = 0,
        iethres_analogmais      = 1,
        iethres_analogstrain    = 2,
        iethres_motioncontrol   = 3,
        iethres_skin            = 4,
        iethres_analogvirtual   = 5,
        iethres_analoginertial  = 6,
        iethres_analogmultienc  = 7,
        iethres_analoginertial3 = 8,
        iethres_temperature     = 9,
        iethres_analogpsc       = 10,
        iethres_analogpos       = 11,
        iethres_analogft        = 12,
        iethres_analogbattery = 13
    } iethresType_t;
 
    enum { iethresType_numberof = 14 };
 
 
    class IethResource
    {
 
    public:
            virtual ~IethResource() {}
 
            virtual bool initialised() = 0;
            virtual bool update(eOprotID32_t id32, double timestamp, void *rxdata) = 0;
            virtual iethresType_t type() = 0;
 
    public:
            const char * stringOfType();
 
    private:
            static const char * names[iethresType_numberof+1];
    };
 
} // namespace eth
 
#endif
 
// eof