ControlBoardCouplingHandler.h

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/*
 * SPDX-FileCopyrightText: 2006-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_CONTROLBOARDREMAPPER_CONTROLBOARDREMAPPER_H
#define YARP_DEV_CONTROLBOARDREMAPPER_CONTROLBOARDREMAPPER_H
 
#include <yarp/os/Network.h>
 
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IJointCoupling.h>
#include <yarp/dev/ControlBoardInterfacesImpl.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <yarp/os/Semaphore.h>
#include <yarp/dev/WrapperSingle.h>
#include "ControlBoardCouplingHandler_ParamsParser.h"
 
#include <string>
#include <vector>
 
 
#ifdef MSVC
    #pragma warning(disable:4355)
#endif
class ControlBoardCouplingHandler :
        public yarp::dev::DeviceDriver,
        public yarp::dev::IEncodersTimed,
        public yarp::dev::WrapperSingle,
        public yarp::dev::IAxisInfo,
        public ControlBoardCouplingHandler_ParamsParser {
private:
    yarp::dev::PolyDriver            jointCouplingHandler;
    yarp::dev::IEncodersTimed        *iJntEnc{nullptr};
    //yarp::dev::IControlLimits        *lim;
    yarp::dev::IAxisInfo             *iAxInfo{nullptr};
    yarp::dev::IJointCoupling        *iJntCoupling{nullptr};
 
    yarp::sig::Vector physJointsPos;
    yarp::sig::Vector physJointsVel;
    yarp::sig::Vector physJointsAcc;
    yarp::sig::Vector physJointsTime;
    yarp::sig::Vector actAxesPos;
    yarp::sig::Vector actAxesVel;
    yarp::sig::Vector actAxesAcc;
    yarp::sig::Vector actAxesTime;
 
    bool _verb{false};
 
    // to open ports and print more detailed debug messages
    std::string partName;
 
    void configureBuffers();
 
 
public:
    ControlBoardCouplingHandler() = default;
    ControlBoardCouplingHandler(const ControlBoardCouplingHandler&) = delete;
    ControlBoardCouplingHandler(ControlBoardCouplingHandler&&) = delete;
    ControlBoardCouplingHandler& operator=(const ControlBoardCouplingHandler&) = delete;
    ControlBoardCouplingHandler& operator=(ControlBoardCouplingHandler&&) = delete;
    ~ControlBoardCouplingHandler() override = default;
 
    bool verbose() const { return _verb; }
 
    bool close() override;
 
 
    bool open(yarp::os::Searchable &prop) override;
 
    bool detach() override;
 
    bool attach(yarp::dev::PolyDriver* poly) override;
 
    /* IEncoders */
    bool resetEncoder(int j) override;
 
    bool resetEncoders() override;
 
    bool setEncoder(int j, double val) override;
 
    bool setEncoders(const double *vals) override;
 
    bool getEncoder(int j, double *v) override;
 
    bool getEncoders(double *encs) override;
 
    bool getEncodersTimed(double *encs, double *t) override;
 
    bool getEncoderTimed(int j, double *v, double *t) override;
 
    bool getEncoderSpeed(int j, double *sp) override;
 
    bool getEncoderSpeeds(double *spds) override;
 
    bool getEncoderAcceleration(int j, double *acc) override;
 
    bool getEncoderAccelerations(double *accs) override;
 
    /* IAxisInfo */
    bool getAxes(int *ax) override;
 
    bool getAxisName(int j, std::string &name) override;
 
    bool getJointType(int j, yarp::dev::JointTypeEnum &type) override;
 
};
 
#endif // YARP_DEV_CONTROLBOARDREMAPPER_CONTROLBOARDREMAPPER_H