skinManager.h

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/* 
 * Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
 * Authors: Andrea Del Prete, Alexander Schmitz
 * email:   andrea.delprete@iit.it, alexander.schmitz@iit.it
 * website: www.robotcub.org 
 * 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
 */
 
 
#ifndef __ICUB_skinManager_H__
#define __ICUB_skinManager_H__
 
#include <string>
 
#include <yarp/os/RFModule.h>
#include <yarp/os/Network.h>
#include <yarp/os/Vocab.h>
 
#include "iCub/skinManager/compensationThread.h"
#include "iCub/skinManager/SkinDiagnosticsReadThread.h"
#include "iCub/skinDynLib/rpcSkinManager.h"
 
namespace iCub {
    namespace skinManager {
        class skinManager : public RFModule {
        public:
            bool configure(yarp::os::ResourceFinder &rf); // configure all the module parameters and return true if successful
            bool interruptModule();                       // interrupt, e.g., the ports 
            bool close();                                 // close and shut down the module
            bool respond(const yarp::os::Bottle& command, yarp::os::Bottle& reply);
            double getPeriod(); 
            bool updateModule();
 
        private:
            // module default values
            static const bool CALIBRATION_ALLOWED_DEFAULT;
            static const int MIN_BASELINE_DEFAULT;
            static const int PERIOD_DEFAULT;
            static const int ADD_THRESHOLD_DEFAULT;
            static const bool SMOOTH_FILTER_DEFAULT;
            static const float SMOOTH_FACTOR_DEFAULT;
            static const float COMPENSATION_GAIN_DEFAULT;
            static const float CONTACT_COMPENSATION_GAIN_DEFAULT;
            static const std::string MODULE_NAME_DEFAULT;
            static const std::string ROBOT_NAME_DEFAULT;
            static const bool ZERO_UP_RAW_DATA_DEFAULT;
            static const bool BINARIZATION_DEFAULT;
            static const std::string RPC_PORT_DEFAULT;
 
            /* module parameters */
            std::string moduleName;
            std::string robotName;
 
            /* ports */
            yarp::os::Port handlerPort;                   // a port to handle messages
 
            /* pointer to a new thread to be created and started in configure() and stopped in close() */
            CompensationThread *myThread;
            iCub::skinManager::SkinDiagnosticsReadThread *thSkinDiagnostics;
 
            void addToBottle(yarp::os::Bottle& b, const yarp::sig::Vector& v);
            void addToBottle(yarp::os::Bottle& b, const std::vector<yarp::sig::Vector>& v);
            bool bottleToVector(const yarp::os::Bottle& b, yarp::sig::Vector& v);
            bool identifyCommand(yarp::os::Bottle commandBot, SkinManagerCommand &com, yarp::os::Bottle& params);
 
        };
    } //namespace iCub
} //namespace skinManager
 
#endif // __ICUB_skinManager_H__
//empty line to make gcc happy