embObjMais.cpp

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/*
* Copyright (C) 2012 Robotcub Consortium
* Author: Alberto Cardellino
* CopyPolicy: Released under the terms of the GNU GPL v2.0.
*
*/
 
// general purpose stuff.
#include <string>
#include <iostream>
#include <string.h>
 
// Yarp Includes
#include <yarp/os/Time.h>
#include <yarp/os/Log.h>
#include <yarp/os/LogStream.h>
#include <stdarg.h>
#include <stdio.h>
#include <yarp/dev/PolyDriver.h>
#include <ace/config.h>
#include <ace/Log_Msg.h>
 
 
// specific to this device driver.
#include <embObjMais.h>
#include <ethManager.h>
#include "EoAnalogSensors.h"
#include "EOnv_hid.h"
 
#include "EoProtocol.h"
#include "EoProtocolMN.h"
#include "EoProtocolAS.h"
 
#include <yarp/os/NetType.h>
#include <yarp/conf/environment.h>
 
#ifdef WIN32
#pragma warning(once:4355)
#endif
 
 
 
using namespace yarp;
using namespace yarp::os;
using namespace yarp::dev;
 
 
inline bool NOT_YET_IMPLEMENTED(const char *txt)
{
    yWarning() << std::string(txt) << " not yet implemented for embObjMais\n";
    return false;
}
 
// generic function that checks is key1 is present in input bottle and that the result has size elements
// return true/false
bool embObjMais::extractGroup(Bottle &input, Bottle &out, const std::string &key1, const std::string &txt, int size)
{
    size++;  // size includes also the name of the parameter
    Bottle &tmp=input.findGroup(key1.c_str(), txt.c_str());
    if (tmp.isNull())
    {
        yError ("%s not found\n", key1.c_str());
        return false;
    }
 
    if(tmp.size()!=size)
    {
        yError("%s incorrect number of entries\n", key1.c_str());
        return false;
    }
 
    out=tmp;
 
    return true;
}
 
 
bool embObjMais::fromConfig(yarp::os::Searchable &_config)
{
#if defined(EMBOBJMAIS_USESERVICEPARSER)
 
 
    if(false == parser->parseService(_config, serviceConfig))
    {
        return false;
    }
 
    return true;
 
#else
 
    Bottle xtmp;
 
    int _period = 0;
 
    // Analog Sensor stuff
    Bottle config = _config.findGroup("GENERAL");
    if (!extractGroup(config, xtmp, "Period","transmitting period of the sensors", 1))
    {
        yError() << "embObjMais Using default value = 0 (disabled)";
        _period = 0;
 
    }
    else
    {
        _period = xtmp.get(1).asInt32();
        yDebug() << "embObjMais::fromConfig() detects embObjMais Using value of" << _period;
    }
 
    serviceConfig.acquisitionrate = _period;
 
    return true;
#endif
}
 
 
embObjMais::embObjMais()
{
    serviceConfig.acquisitionrate = 0;
    memset(&serviceConfig.ethservice, 0, sizeof(serviceConfig.ethservice));
 
    timeStamp = 0;
 
    counterSat=0;
    counterError=0;
    counterTimeout=0;
 
    status = MAS_status::MAS_OK;
 
 
    opened = false;
 
    analogdata.resize(0);
 
 
    std::string tmp = yarp::conf::environment::get_string("ETH_VERBOSEWHENOK");
    if (tmp != "")
    {
        verbosewhenok = (bool)(yarp::conf::numeric::from_string(tmp, 0U));
    }
    else
    {
        verbosewhenok = false;
    }
 
    parser = NULL;
    res = NULL;
}
 
 
embObjMais::~embObjMais()
{
    analogdata.resize(0);
 
    if(NULL != parser)
    {
        delete parser;
        parser = NULL;
    }
 
}
 
 
bool embObjMais::initialised()
{
    return opened;
}
 
//#define TEST_MAIS_PLUS_MC
 
 
bool embObjMais::open(yarp::os::Searchable &config)
{
    // - first thing to do is verify if the eth manager is available. then i parse info about the eth board.
 
    ethManager = eth::TheEthManager::instance();
    if(NULL == ethManager)
    {
        yFatal() << "embObjMais::open() fails to instantiate ethManager";
        return false;
    }
 
 
    if(false == ethManager->verifyEthBoardInfo(config, ipv4addr, boardIPstring, boardName))
    {
        yError() << "embObjMais::open(): object TheEthManager fails in parsing ETH propertiex from xml file";
        return false;
    }
    // add specific info about this device ...
 
 
    // - now all other things
 
 
//    std::string str;
//    if(config.findGroup("GENERAL").find("verbose").asBool())
//        str=config.toString().c_str();
//    else
//        str="\n";
//    yTrace() << str;
 
 
    if(NULL == parser)
    {
        parser = new ServiceParser;
    }
 
    // read stuff from config file
    if(!fromConfig(config))
    {
        yError() << "embObjMais missing some configuration parameter. Check logs and your config file.";
        return false;
    }
 
    // and prepare analogdata
    {
        // must be of size: mais_Channels, and 0.0-initted
        analogdata.resize(mais_Channels, 0.0);
    }
 
 
 
    // -- instantiate EthResource etc.
 
    res = ethManager->requestResource2(this, config);
    if(NULL == res)
    {
        yError() << "embObjMais::open() fails because could not instantiate the ethResource for BOARD w/ IP = " << boardIPstring << " ... unable to continue";
        return false;
    }
 
    printServiceConfig();
 
 
    if(!res->verifyEPprotocol(eoprot_endpoint_analogsensors))
    {
        cleanup();
        return false;
    }
 
#if     defined(TEST_MAIS_PLUS_MC)
 
   // sarebbe bene chiamare requestResource2(ptr2fakemccontroller, config) ma pazienza
 
    const eOmn_serv_parameter_t* mcservparam = NULL;
 
    if(false == res->serviceVerifyActivate(eomn_serv_category_mc, mcservparam, 5.0))
    {
        yError() << "embObjMais::open() has an error in call of ethResources::serviceVerifyActivate(MC) for BOARD" << res->getProperties().boardnameString << "IP" << res->getProperties().ipv4addrString;
        cleanup();
        return false;
    }
    if(false == res->serviceStart(eomn_serv_category_mc))
    {
        yError() << "embObjMais::open() fails to start MC service for BOARD" << res->getProperties().boardnameString << "IP" << res->getProperties().ipv4addrString << ": cannot continue";
        cleanup();
        return false;
    }
    else
    {
        if(verbosewhenok)
        {
            yDebug() << "embObjMais::open() correctly starts MC service of BOARD" << res->getProperties().boardnameString << "IP" << res->getProperties().ipv4addrString;
        }
    }
 
 
#endif
 
 
 
 
 
 
#if defined(EMBOBJMAIS_USESERVICEPARSER)
    const eOmn_serv_parameter_t* servparam = &serviceConfig.ethservice;
#else
    const eOmn_serv_parameter_t* servparam = NULL;
#endif
 
    //servparam = NULL;
 
    if(false == res->serviceVerifyActivate(eomn_serv_category_mais, servparam, 5.0))
    {
        SystemClock::delaySystem(1);
        yError() << "embObjMais::open() has an error in call of ethResources::serviceVerifyActivate() for BOARD" << res->getProperties().boardnameString << "IP" << res->getProperties().ipv4addrString;
        //printServiceConfig();
        cleanup();
        return false;
    }
 
    //printServiceConfig();
 
 
    // configure the service: aka, send to the remote board information about the whereabouts of the can boards mais, strain, mtb which offers the service.
    // so far nothing to do
 
 
    // configure the sensor(s)
 
 
    if(false == sendConfig2Mais())
    {
        cleanup();
        return false;
    }
 
    // Set variable to be signalled
    if(false == initRegulars())
    {
        cleanup();
        return false;
    }
 
 
    if(false == res->serviceStart(eomn_serv_category_mais))
    {
        yError() << "embObjMais::open() fails to start as service for  BOARD" << res->getProperties().boardnameString << "IP" << res->getProperties().ipv4addrString << ": cannot continue";
        cleanup();
        return false;
    }
    else
    {
        if(verbosewhenok)
        {
            yDebug() << "embObjMais::open() correctly starts as service of BOARD" << res->getProperties().boardnameString << "IP" << res->getProperties().ipv4addrString;
        }
    }
 
 
    opened = true;
    return true;
}
 
 
bool embObjMais::sendConfig2Mais(void)
{
    // version with read-back
 
    eOprotID32_t id32 = eo_prot_ID32dummy;
 
    // -- mais datarate
 
    uint8_t datarate  = serviceConfig.acquisitionrate;
    id32 = eoprot_ID_get(eoprot_endpoint_analogsensors, eoprot_entity_as_mais, 0, eoprot_tag_as_mais_config_datarate);
 
    if(false == res->setcheckRemoteValue(id32, &datarate, 10, 0.010, 0.050))
    {
        yError() << "FATAL: embObjMais::sendConfig2Mais() had an error while calling setcheckRemoteValue() for mais datarate in BOARD" << res->getProperties().boardnameString << "with IP" << res->getProperties().ipv4addrString;
        return false;
    }
    else
    {
        if(verbosewhenok)
        {
            yDebug() << "embObjMais::sendConfig2Mais() correctly configured mais datarate at value" << datarate << "in BOARD" << res->getProperties().boardnameString << "with IP" << res->getProperties().ipv4addrString;
        }
    }
 
    // -- mais tx mode
 
    eOenum08_t maismode  = eoas_maismode_txdatacontinuously; // use eOas_maismode_t for value BUT USE   for type (their sizes can be different !!)
    id32 = eoprot_ID_get(eoprot_endpoint_analogsensors, eoprot_entity_as_mais, 0, eoprot_tag_as_mais_config_mode);
 
    if(false == res->setcheckRemoteValue(id32, &maismode, 10, 0.010, 0.050))
    {
        yError() << "FATAL: embObjMais::sendConfig2Mais() had an error while calling setcheckRemoteValue() for mais mode in BOARD" << res->getProperties().boardnameString << "with IP" << res->getProperties().ipv4addrString;
        return false;
    }
    else
    {
        if(verbosewhenok)
        {
            yDebug() << "embObjMais::sendConfig2Mais() correctly configured mais mode at value" << maismode << "in BOARD" << res->getProperties().boardnameString << "with IP" << res->getProperties().ipv4addrString;
        }
    }
 
    return true;
 
}
 
 
 
bool embObjMais::initRegulars()
{
    // configure regular rops
 
    vector<eOprotID32_t> id32v(0);
    eOprotID32_t id32 = eo_prot_ID32dummy;
 
    // we need to choose the id32 to put inside the vector
 
    id32 = eoprot_ID_get(eoprot_endpoint_analogsensors, eoprot_entity_as_mais, 0, eoprot_tag_as_mais_status_the15values);;
 
    // and put it inside vector
 
    id32v.push_back(id32);
 
    // now we send the vector
 
    if(false == res->serviceSetRegulars(eomn_serv_category_mais, id32v))
    {
        yError() << "embObjMais::initRegulars() fails to add its variables to regulars: cannot proceed any further";
        return false;
    }
    else
    {
        if(verbosewhenok)
        {
            yDebug() << "embObjMais::initRegulars() added" << id32v.size() << "regular rops to BOARD" << res->getProperties().boardnameString << "with IP" << res->getProperties().ipv4addrString;
            char nvinfo[128];
            for (size_t r = 0; r<id32v.size(); r++)
            {
                uint32_t item = id32v.at(r);
                eoprot_ID2information(item, nvinfo, sizeof(nvinfo));
                yDebug() << "\t it added regular rop for" << nvinfo;
            }
        }
    }
 
    return true;
}
 
 
void embObjMais::resetCounters()
{
    counterSat=0;
    counterError=0;
    counterTimeout=0;
}
 
 
void embObjMais::getCounters(unsigned int &sat, unsigned int &err, unsigned int &to)
{
    sat=counterSat;
    err=counterError;
    to=counterTimeout;
}
 
size_t embObjMais::getNrOfEncoderArrays() const {
    return 1;
}
 
yarp::dev::MAS_status embObjMais::getEncoderArrayStatus(size_t sens_index) const {
if (sens_index >= 1) return yarp::dev::MAS_UNKNOWN;
    return yarp::dev::MAS_OK;
}
 
bool embObjMais::getEncoderArrayName(size_t sens_index, std::string &name) const {
    if (sens_index >= 1) return false;
    name = serviceConfig.nameOfMais;
    return true;
}
 
bool embObjMais::getEncoderArrayMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const {
    if (sens_index >= 1) return false;
    timestamp = this->timeStamp;
    out.resize(analogdata.size());
    out = analogdata;
    return true;
}
 
size_t embObjMais::getEncoderArraySize(size_t sens_index) const {
    if (sens_index >= 1) return 0;
    return analogdata.size();
}
 
 
eth::iethresType_t embObjMais::type()
{
    return eth::iethres_analogmais;
}
 
 
bool embObjMais::update(eOprotID32_t id32, double timestamp, void* rxdata)
{
    id32 = id32;
    this->timeStamp = timestamp;
 
    if(false == opened)
    {
        return false;
    }
 
    // called by feat_manage_analogsensors_data() which is called by:
    // eoprot_fun_UPDT_as_mais_status_the15values()
    // the void* parameter inside this function is a eOas_arrayofupto36bytes_t*
    // and can be treated as a EOarray
 
 
    EOarray *array = (EOarray*)rxdata;
    uint8_t size = eo_array_Size(array);
    uint8_t itemsize = eo_array_ItemSize(array); // marco.accame: must be 1, as the code after uses this convention
    if((0 == size) || (1 != itemsize))
    {
        return false;
    }
 
    std::lock_guard<std::mutex> lck(mtx);
 
    for (size_t k = 0; k<analogdata.size(); k++)
    {
        uint8_t* tmp = (uint8_t*) eo_array_At(array, k);
        if(NULL != tmp)
        {
            uint8_t val = *tmp; // marco.accame: i see that we treat the array as if containing items of 1 byte.
            // Get the kth element of the array
            analogdata[k] = (double)val;
        }
    }
 
    return true;
}
 
 
 
 
bool embObjMais::close()
{
    opened = false;
 
    cleanup();
    return true;
}
 
 
void embObjMais::printServiceConfig(void)
{
    char loc[20] = {0};
    char fir[20] = {0};
    char pro[20] = {0};
 
    const char * boardname = (NULL != res) ? (res->getProperties().boardnameString.c_str()) : ("NOT-ASSIGNED-YET");
    const char * ipv4 = (NULL != res) ? (res->getProperties().ipv4addrString.c_str()) : ("NOT-ASSIGNED-YET");
 
    parser->convert(serviceConfig.ethservice.configuration.data.as.mais.canloc, loc, sizeof(loc));
    parser->convert(serviceConfig.ethservice.configuration.data.as.mais.version.firmware, fir, sizeof(fir));
    parser->convert(serviceConfig.ethservice.configuration.data.as.mais.version.protocol, pro, sizeof(pro));
 
    yInfo() << "The embObjMais device using BOARD" << boardname << "w/ IP" << ipv4 << "has the following service config:";
    yInfo() << "- acquisitionrate =" << serviceConfig.acquisitionrate;
    yInfo() << "- MAIS named" << serviceConfig.nameOfMais << "@" << loc << "with required protocol version =" << pro << "and required firmware version =" << fir;
}
 
 
void embObjMais::cleanup(void)
{
    if(ethManager == NULL) return;
 
    int ret = ethManager->releaseResource2(res, this);
    res = NULL;
    if(ret == -1)
        ethManager->killYourself();
}
 
// eof