EthercatDemonAxesVelocityController.hpp

#ifndef KUKA361_NAXES_VELOCITY_CONTROLLER_HPP
#define KUKA361_NAXES_VELOCITY_CONTROLLER_HPP

#include <vector>
#include <rtt/RTT.hpp>

#include <rtt/TaskContext.hpp>
#include <rtt/Ports.hpp>
#include <rtt/Event.hpp>
#include <rtt/Properties.hpp>
#include <rtt/Command.hpp>

#if defined (OROPKG_OS_LXRT)
#include <rtt/dev/AnalogOutput.hpp>
#include <rtt/dev/DigitalOutput.hpp>

#include "dev/SwitchDigitalInapci1032.hpp"
#include "dev/RelayCardapci2200.hpp"
#include "dev/EncoderSSIapci1710.hpp"
#include "dev/ComediDevice.hpp"
#include "dev/ComediSubDeviceAOut.hpp"

#include "dev/AbsoluteEncoderSensor.hpp"
#include "dev/AnalogDrive.hpp"
#include "dev/Axis.hpp"
#endif
#include "dev/SimulationAxis.hpp"
#include <rtt/dev/AxisInterface.hpp>

#include <ocl/OCL.hpp>

namespace OCL
{
    class Kuka361nAxesVelocityController : public RTT::TaskContext
    {
    public:
        Kuka361nAxesVelocityController(std::string name,std::string propertyfilename="cpf/Kuka361nAxesVelocityController.cpf");
        virtual ~Kuka361nAxesVelocityController();

    protected:
        Method<bool(int)> _startAxis;

        Method<bool(void)> _startAllAxes;

        Method<bool(int)> _stopAxis;

        Method<bool(void)> _stopAllAxes;

        Method<bool(int)> _unlockAxis;

        Method<bool(void)> _unlockAllAxes;

        Method<bool(int)> _lockAxis;

        Method<bool(void)> _lockAllAxes;

        Command<bool(void)> _prepareForUse;

        Command<bool(void)> _prepareForShutdown;

        Method<bool(int,double)> _addDriveOffset;

        std::vector<RTT::ReadDataPort<double>*>   _driveValue;

        std::vector<RTT::DataPort<double>*>       _positionValue;

        RTT::Property<std::vector <double> >     _driveLimits;

        RTT::Property<std::vector <double> >     _lowerPositionLimits;

        RTT::Property<std::vector <double> >     _upperPositionLimits;

        RTT::Property<std::vector <double> >     _initialPosition;

        RTT::Property<std::vector <double> >     _driveOffset;

        RTT::Property<bool >     _simulation;

        RTT::Constant<unsigned int> _num_axes;

        RTT::Event< void(std::string) > _driveOutOfRange;

        RTT::Event< void(std::string) > _positionOutOfRange;

    private:

        virtual bool startAxis(int axis);
        virtual bool startAxisCompleted(int axis) const;

        virtual bool startAllAxes();
        virtual bool startAllAxesCompleted() const;

        virtual bool stopAxis(int axis);
        virtual bool stopAxisCompleted(int axis) const;

        virtual bool stopAllAxes();
        virtual bool stopAllAxesCompleted() const;

        virtual bool lockAxis(int axis);
        virtual bool lockAxisCompleted(int axis) const;

        virtual bool lockAllAxes();
        virtual bool lockAllAxesCompleted() const;

        virtual bool unlockAxis(int axis);
        virtual bool unlockAxisCompleted(int axis) const;

        virtual bool unlockAllAxes();
        virtual bool unlockAllAxesCompleted() const;

        virtual bool addDriveOffset(int axis,double offset);
        virtual bool addDriveOffsetCompleted(int axis) const;

        /*
         *Kuka361 does not need a command to initialize the position since
         *it has absolute encoders
         */
        //virtual bool initPosition(int axis);
        //virtual bool initPositionCompleted(int axis) const;

        virtual bool prepareForUse();
        virtual bool prepareForUseCompleted() const;
        virtual bool prepareForShutdown();
        virtual bool prepareForShutdownCompleted() const;


        const std::string _propertyfile;

        bool _activated;

        std::vector<double>     _positionConvertFactor;


        std::vector<double>     _driveConvertFactor;

    public:
        virtual bool startup();

        virtual void update();

        virtual void shutdown();

        unsigned int GetNumAxes();

    private:
        //
        // Members implementing the interface to the hardware
        //
#if  (defined (OROPKG_OS_LXRT))
        std::vector<RTT::Axis*>  _axes_hardware;

        RTT::ComediDevice*                    _comediDev;
        RTT::ComediSubDeviceAOut*             _comediSubdevAOut;
        RTT::EncoderSSI_apci1710_board*       _apci1710;
        RTT::RelayCardapci2200*               _apci2200;
        RTT::SwitchDigitalInapci1032*         _apci1032;

        std::vector<RTT::EncoderInterface*>           _encoderInterface;
        std::vector<RTT::AbsoluteEncoderSensor*>      _encoder;
        std::vector<RTT::AnalogOutput*> _vref;
        std::vector<RTT::DigitalOutput*>              _enable;
        std::vector<RTT::AnalogDrive*>                _drive;
        std::vector<RTT::DigitalOutput*>              _brake;

#endif
        std::vector<RTT::AxisInterface*>      _axes;
        std::vector<RTT::SimulationAxis*>     _axes_simulation;

    };//class Kuka361nAxesVelocityController
}//namespace Orocos
#endif // KUKA361NAXESVELOCITYCONTROLLER

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