embObjFTsensor.h

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/*
 * Copyright (C) 2006-2018 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 * Author: Valentina Gaggero
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef __embObjFTsensor_h__
#define __embObjFTsensor_h__
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IAnalogSensor.h>
#include "IethResource.h"
 
#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
 
 
namespace yarp {
    namespace dev {
        class embObjFTsensor;
    }
}
 
 
#define EMBOBJSTRAIN_USESERVICEPARSER
 
// -- class embObjFTsensor
 
class yarp::dev::embObjFTsensor:    public yarp::dev::DeviceDriver,
                                    public eth::IethResource,
                                    public yarp::dev::IAnalogSensor,
                                    public yarp::dev::ITemperatureSensors,
                                    public yarp::dev::ISixAxisForceTorqueSensors
{
public:
 
    embObjFTsensor();
    ~embObjFTsensor();
 
    // An open function yarp factory compatible
    bool open(yarp::os::Searchable &config);
    bool close();
 
    // IAnalogSensor interface
    virtual int read(yarp::sig::Vector &out);
    virtual int getState(int ch);
    virtual int getChannels();
    virtual int calibrateChannel(int ch, double v);
    virtual int calibrateSensor();
    virtual int calibrateSensor(const yarp::sig::Vector& value);
    virtual int calibrateChannel(int ch);
 
    // IethResource interface
    virtual bool initialised();
    virtual eth::iethresType_t type();
    virtual bool update(eOprotID32_t id32, double timestamp, void* rxdata);
    
    // ITemperatureSensors
    virtual size_t getNrOfTemperatureSensors() const override;
    virtual yarp::dev::MAS_status getTemperatureSensorStatus(size_t sens_index) const override;
    virtual bool getTemperatureSensorName(size_t sens_index, std::string &name) const override;
    virtual bool getTemperatureSensorFrameName(size_t sens_index, std::string &frameName) const override;
    virtual bool getTemperatureSensorMeasure(size_t sens_index, double& out, double& timestamp) const override;
    virtual bool getTemperatureSensorMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const override;
    
    // 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;
 
 
private:
    void *mPriv;
 
    void cleanup(void);
    std::string getBoardInfo(void) const;
    bool updateStrainValues(eOprotID32_t id32, double timestamp, void* rxdata);
    bool updateTemperatureValues(eOprotID32_t id32, double timestamp, void* rxdata);
 
    void resetCounters();
    void getCounters(unsigned int &saturations, unsigned int &errors, unsigned int &timeouts);
    bool enableTemperatureTransmission(bool enable);
};
 
 
#endif