AxesComponent.hpp

/***************************************************************************
  tag: Peter Soetens  Thu Apr 22 20:40:59 CEST 2004  AxisSensor.hpp

                        AxisSensor.hpp -  description
                           -------------------
    begin                : Thu April 22 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library 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     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/

#ifndef AXES_COMPONENT_HPP
#define AXES_COMPONENT_HPP

#include <rtt/dev/AxisInterface.hpp>
#include <rtt/dev/DriveInterface.hpp>
#include <rtt/dev/DigitalInput.hpp>
#include <rtt/dev/DigitalOutput.hpp>

#include <map>
#include <utility>
#include <string>
#include <boost/tuple/tuple.hpp>
#include <rtt/Logger.hpp>
#include <rtt/TaskContext.hpp>
#include <rtt/DataPort.hpp>
#include <rtt/Property.hpp>
#include <rtt/Attribute.hpp>
#include <rtt/RTT.hpp>

#include <ocl/OCL.hpp>

namespace OCL
{
    class AxesComponent
        : public TaskContext
    {
    public:
        typedef std::vector<double> ChannelType;

        AxesComponent( int max_axes = 1, const std::string& name = "AxesComponent" );

        virtual bool startup();

        virtual void update();

        virtual void shutdown();

        bool addAxis( const std::string& name, AxisInterface* axis_i );

        bool addAxisOnChannel(const std::string& axis_name, const std::string& sensor_name, int virtual_channel );

        void removeAxisFromChannel(const std::string& axis_name);

        bool removeAxis( const std::string& name );

        bool enableAxis( const std::string& name );

        bool disableAxis( const std::string& name );

        bool stopAxis( const std::string& name );

        bool switchOn( const std::string& name );

        bool switchOff( const std::string& name );

        bool isEnabled( const std::string& name ) const;

        bool isDriven( const std::string& name ) const;

        bool isStopped( const std::string& name ) const;

        bool isLocked( const std::string& name ) const;

        double position( const std::string& name ) const;

        bool isOn( const std::string& name ) const;

        double readSensor( const std::string& name ) const;

        int getAxes() const;
        bool calibrateSensor( const std::string& axis, const std::string& name );

        bool resetSensor( const std::string& axis, const std::string& name );

        bool isCalibrated( const std::string& axis, const std::string& name ) const;
    protected:
        struct AxisInfo;

        AxisInfo* mhasAxis(const std::string& axis_name);

        Property<int> max_channels;

        typedef std::map<std::string, std::pair<SensorInterface<double>*, WriteDataPort<double>* > > SensorMap;

        struct AxisInfo
        {
            AxisInfo(AxisInterface* a, const std::string& thename)
                : name(thename), axis(a),
                  sensor(0), inport(0),
                  channel(-1) {}
            std::string name;
            AxisInterface* axis;
            SensorInterface<double>* sensor;
            DataPort<double>* inport;
            int channel;

            // contains all the sensors of each added axis.
            SensorMap sensors;
        };


        ChannelType chan_meas;
        WriteDataPort<ChannelType> chan_sensor;
        ChannelType chan_out;
        ReadDataPort< ChannelType > chan_drive;

        std::map<std::string, const DigitalInput* > d_in;
        std::map<std::string, DigitalOutput* > d_out;

        typedef std::map<std::string, AxisInfo > AxisMap;

        AxisMap axes;

        Attribute<ChannelType> testData;

        void to_axis(const AxisInfo& dd );

        unsigned int usingChannels;
    };
}

#endif

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