SerialServoBoard.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2008 Giacomo Spigler
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/Drivers.h>
#include <yarp/dev/ISerialDevice.h>
#include <yarp/dev/PolyDriver.h>
 
#include <cstdio>
#include <cstdlib>
#include <cstring>
 
#define round(x) ((x) >= 0 ? (int)((x) + 0.5) : (int)((x)-0.5))
#define FABS(x) (x >= 0 ? x : -x)
 
#define SSC32 1
#define MINISSC 2
#define PONTECHSV203X 3
#define MONDOTRONICSMI 4
#define POLOLUUSB16 6
#define PICOPIC 7
 
 
using namespace yarp::os;
using namespace yarp::dev;
 
 
bool movessc32(int j, double ref, double* positions, double* speeds, ISerialDevice* serial);
bool moveminissc(int j, double ref, double* positions, double* speeds, ISerialDevice* serial);
bool movepontech(int j, double ref, double* positions, double* speeds, ISerialDevice* serial);
bool movemondotronic(int j, double ref, double* positions, double* speeds, ISerialDevice* serial);
bool movepololu(int j, double ref, double* positions, double* speeds, ISerialDevice* serial);
bool movepicopic(int j, double ref, double* positions, double* speeds, ISerialDevice* serial);
 
 
class SerialServoBoard : public DeviceDriver, public IPositionControl
{
public:
    int servoboard;
 
    ISerialDevice* serial;
 
    PolyDriver dd;
 
    bool (*move)(int j, double ref, double* positions, double* speeds, ISerialDevice* serial);
 
    double* positions;
    double* speeds;
 
    bool getAxes(int* ax) override;
    bool positionMove(int j, double ref) override;
    bool positionMove(const double* refs) override;
    bool relativeMove(int j, double delta) override;
    bool relativeMove(const double* deltas) override;
    bool checkMotionDone(int j, bool* flag) override;
    bool checkMotionDone(bool* flag) override;
    bool setRefSpeed(int j, double sp) override;
    bool setRefSpeeds(const double* spds) override;
    bool setRefAcceleration(int j, double acc) override;
    bool setRefAccelerations(const double* accs) override;
    bool getRefSpeed(int j, double* ref) override;
    bool getRefSpeeds(double* spds) override;
    bool getRefAcceleration(int j, double* acc) override;
    bool getRefAccelerations(double* accs) override;
    bool stop(int j) override;
    bool stop() override;
    bool positionMove(const int n_joint, const int* joints, const double* refs) override;
    bool relativeMove(const int n_joint, const int* joints, const double* deltas) override;
    bool checkMotionDone(const int n_joint, const int* joints, bool* flags) override;
    bool setRefSpeeds(const int n_joint, const int* joints, const double* spds) override;
    bool setRefAccelerations(const int n_joint, const int* joints, const double* accs) override;
    bool getRefSpeeds(const int n_joint, const int* joints, double* spds) override;
    bool getRefAccelerations(const int n_joint, const int* joints, double* accs) override;
    bool stop(const int n_joint, const int* joints) override;
 
    bool open(Searchable& config) override;
    bool close() override;
};