embObjMais.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
 
#ifndef __embObjMais_h__
#define __embObjMais_h__
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
#include <string>
#include <list>
#include <mutex>
 
#include <iCub/FactoryInterface.h>
#include <iCub/LoggerInterfaces.h>
 
 
#include "IethResource.h"
#include <ethManager.h>
#include <abstractEthResource.h>
 
 
#include <yarp/os/LogStream.h>
 
#include "serviceParser.h"
 
namespace yarp {
    namespace dev {
        class embObjMais;
    }
}
 
 
#define EMBOBJMAIS_USESERVICEPARSER
 
 
// -- class embObjMais
 
class yarp::dev::embObjMais:            public yarp::dev::DeviceDriver,
                                        public eth::IethResource,
                                        public yarp::dev::IEncoderArrays
{
 
public:
 
    enum { mais_Channels = 15, mais_FormatData = 8 };
 
public:
 
    embObjMais();
    ~embObjMais();
 
    // An open function yarp factory compatible
    bool open(yarp::os::Searchable &config);
    bool close();
 
    // IEncoderArrays interface
    virtual size_t getNrOfEncoderArrays() const override;
    virtual yarp::dev::MAS_status getEncoderArrayStatus(size_t sens_index) const override;
    virtual bool getEncoderArrayName(size_t sens_index, std::string &name) const override;
    virtual bool getEncoderArrayMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const override;
    virtual size_t getEncoderArraySize(size_t sens_index) const override;
 
    // IethResource interface
    virtual bool initialised();
    virtual eth::iethresType_t type();
    virtual bool update(eOprotID32_t id32, double timestamp, void* rxdata);
 
private:
 
    string boardIPstring;
    string boardName;
    eOipv4addr_t ipv4addr;
 
    eth::TheEthManager* ethManager;
    eth::AbstractEthResource* res;
    ServiceParser* parser;
 
    bool opened;
    bool verbosewhenok;
 
    unsigned int    counterSat;
    unsigned int    counterError;
    unsigned int    counterTimeout;
 
    // parameters
    servConfigMais_t serviceConfig;
 
    std::mutex mtx;
 
    yarp::sig::Vector analogdata;
 
    short status;
    double timeStamp;
 
private:
 
    // for all
    bool extractGroup(Bottle &input, Bottle &out, const std::string &key1, const std::string &txt, int size);
    bool fromConfig(yarp::os::Searchable &config);
    bool initRegulars();
    void cleanup(void);
    void printServiceConfig(void);
 
    // for mais
    bool sendConfig2Mais(void);
 
 
    // for ??
    void resetCounters();
    void getCounters(unsigned int &saturations, unsigned int &errors, unsigned int &timeouts);
};
 
 
#endif