osaGroup.h

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/*

  Author(s): Simon Leonard
  Created on: Dec 02 2009

  (C) Copyright 2009 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _osaGroup_h
#define _osaGroup_h

#include <vector>
#include <sawBarrett/osaPuck.h>

#include <sawBarrett/sawBarrettExport.h>


class CISST_EXPORT osaGroup {
public:

  enum ID{


    BROADCAST = 0x00,


    UPPERARM = 0x01,


    FOREARM = 0x02,


    POSITION = 0x03,

    UPPERARM_POSITION = 0x04,

    FOREARM_POSITION = 0x05,

    PROPERTY = 0x06,

    HAND = 0x07,

    HAND_POSITION = 0x08,
    
    LASTGROUP = 0x09

  };


  enum Status{ RESET=0, READY=2 };

  enum Errno{ ESUCCESS, EFAILURE };
  
private:

  std::string LogPrefix();

  std::vector< osaPuck > pucks;

  osaCANBus* canbus; 
  
  osaGroup::ID id;


  static bool IsSetFrame( const osaCANBusFrame& canframe );
  

  osaGroup::Errno PackProperty( osaCANBusFrame& canframe,
                Barrett::Command command,
                Barrett::ID propid,
                Barrett::Value propval = 0 );
  
  static const osaCANBusFrame::ID GROUP_CODE = 0x0400;


  osaGroup::Errno PackCurrents( osaCANBusFrame& frame, 
                const vctFixedSizeVector<double,4>& I );

  //  positions on group 3
  osaGroup::Errno GetProperty( Barrett::ID id, 
                   std::vector<Barrett::Value>& values );
  
  osaGroup::Errno SetProperty( Barrett::ID id, 
                   Barrett::Value value,
                   bool verify );
  
public:


  osaGroup( osaGroup::ID id, osaCANBus* canbus, bool createfilter=true );
  

  static osaCANBusFrame::ID CANID( osaGroup::ID groupid );
  
  osaGroup::ID GetID() const;

  static osaGroup::ID OriginID( osaCANBusFrame::ID canid );
  
  static osaGroup::ID OriginID( const osaCANBusFrame& canframe );
  
  static osaGroup::ID DestinationID( osaCANBusFrame::ID canid );
  
  static osaGroup::ID DestinationID( const osaCANBusFrame& canframe );
  
  static bool IsDestinationAGroup( const osaCANBusFrame canframe );
  
  void AddPuckToGroup( osaPuck::ID pid );

  bool Clear() const { return pucks.empty(); }

  osaPuck First() const { return pucks.front(); }
  osaPuck Last()  const { return pucks.back(); }

  bool IsEmpty() const { return pucks.empty(); }


  osaGroup::Errno Initialize();

  osaGroup::Errno Reset();

  osaGroup::Errno Ready();

  osaGroup::Errno GetStatus( std::vector<Barrett::Value>& status );


  osaGroup::Errno GetPositions( vctDynamicVector<double>& q );
  osaGroup::Errno SetTorques( const vctFixedSizeVector<double,4>& tau );

  osaGroup::Errno SetMode( Barrett::Value mode );

  

};

// Increment operator for pucks id
osaGroup::ID operator++( osaGroup::ID& gid, int i );

#endif