parametricCalibrator.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/*
 *
 * Copyright (C) 20014 iCub Facility, Istituto Italiano di Tecnologia
 *
 * Authors: Alberto Cardellino, Marco Randazzo, Valentina Gaggero
 *
 * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 *
 */
 
#ifndef __ICUB_PARAMETRIC_CALIBRATOR__
#define __ICUB_PARAMETRIC_CALIBRATOR__
 
#include <mutex>
#include <string>
#include <list>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/CalibratorInterfaces.h>
#include <yarp/dev/ControlBoardInterfaces.h>
 
namespace yarp {
    namespace dev
    {
        class parametricCalibrator;
    }
}
 
class yarp::dev::parametricCalibrator : public ICalibrator, public DeviceDriver, public IRemoteCalibrator
{
public:
    parametricCalibrator();
 
    ~parametricCalibrator();
 
    bool calibrate(DeviceDriver *dd)  override;
 
    virtual bool open (yarp::os::Searchable& config)  override;
 
    virtual bool close ()  override;
 
    virtual bool park(DeviceDriver *dd, bool wait=true)  override;
 
    virtual bool quitPark()  override;
 
    virtual bool quitCalibrate()  override;
 
    // IRemoteCalibrator
 
    virtual yarp::dev::IRemoteCalibrator *getCalibratorDevice();
 
    virtual bool calibrateSingleJoint(int j)  override;
 
    virtual bool calibrateWholePart()  override;
 
    virtual bool homingSingleJoint(int j)  override;
 
    virtual bool homingWholePart()  override;
 
    virtual bool parkSingleJoint(int j, bool _wait=true)  override;
 
    virtual bool parkWholePart()  override;
 
private:
    std::mutex calibMutex;
 
    bool calibrate();
    bool calibrateJoint(int j);
    bool goToZero(int j);
    bool checkCalibrateJointEnded(std::list<int> set);
    bool checkGoneToZeroThreshold(int j);
    bool checkHwFault(int j);
 
    yarp::dev::PolyDriver *dev2calibrate;
    IControlCalibration *iCalibrate;
    IPidControl *iPids;
    IEncoders *iEncoders;
    IPositionControl *iPosition;
    IControlMode *iControlMode;
    IAmplifierControl *iAmp;
 
    std::list<std::list<int> > joints;
 
    int n_joints;
    unsigned char *type;
    double *param1;
    double *param2;
    double *param3;
    int    *maxPWM;
    double *currPos;
    double *currVel;
    double *original_max_pwm;
    double *limited_max_pwm;
    double *zeroVel;
    double *zeroPos;
    double *homeVel;
    double *homePos;
    double *zeroPosThreshold;
    bool    abortCalib;
    bool    abortParking;
    bool    isCalibrated;
    bool    skipCalibration;
    bool    clearHwFault;
 
    int                 totJointsToCalibrate;
    std::string         deviceName;
    yarp::os::Bottle    calibJointsString;      // joints handled by this caibrator as a string for error messages
    std::list<int>      calibJoints;            // joints handled by this caibrator as a list
 
};
#endif