mtsLoPoMoCo.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*
 Author(s):  Ankur Kapoor, Tian Xia
 Created on: 2004-04-30

 (C) Copyright 2004-2011 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 _mtsLoPoMoCo_h
#define _mtsLoPoMoCo_h

#include <cisstMultiTask/mtsComponent.h>
#include <cisstMultiTask/mtsVector.h>

#include <vector>
#include <string>
#include <ostream>

// Always include last!
#include <sawLoPoMoCo/sawLoPoMoCoExport.h>

// forward declarations
class osaLoPoMoCoBoardIO;

class CISST_EXPORT mtsLoPoMoCo: public mtsComponent {

    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);

    std::vector<osaLoPoMoCoBoardIO *> Board;

    std::vector<int> StartAxis;

    std::vector<int> EndAxis;

    std::vector<unsigned int> MaxAxis;

    std::vector<int> BaseAddress;

    int numberOfAxes;
    int numberOfBoards;

    //std::string RelativePathToConfigFiles;

    mtsShortVec MotorVoltages;

    mtsShortVec EncoderPeriods;

    mtsShortVec EncoderFrequencies;

    mtsDoubleVec FrequencyToRPSRatio;

    // anton mtsDoubleVec CountsToDeg;

    mtsDoubleVec CountsToMotorCurrents;

    mtsDoubleVec CountsToPotFeedback;

    mtsDoubleVec MotorSpeedToCounts;

    mtsDoubleVec PositiveSlope;

    mtsDoubleVec PositiveIntercept;

    mtsDoubleVec NegativeSlope;

    mtsDoubleVec NegativeIntercept;

    mtsDoubleVec VoltageToCounts;

    // TODO: Tian: ankur mixes unsigned short and int, is this a problem?
    inline int MapAxisToBoard(unsigned short axisIndex) {
        return axisIndex/4;
    }

    void ConfigureOneBoard(const std::string & filename, const int boardIndex);
    void parseInputArgument(const std::string &inputArgument, std::string &relativeFilePath, std::string &fileName);

public:

    enum {NB_AXIS = 4};

    mtsLoPoMoCo(const std::string& deviceName, unsigned int numberOfBoards);

    virtual ~mtsLoPoMoCo();

    virtual void Configure(const std::string &filename);

protected:
    /*******************************************
     * Start of the Read Commands, no parameters
     *******************************************/
    //mtsCommandBase::ReturnType LatchEncoders(void);
    void LatchEncoders(void);

    //mtsCommandBase::ReturnType StartMotorCurrentConv(void);
    void StartMotorCurrentConv(void);

    //mtsCommandBase::ReturnType StartPotFeedbackConv(void);
    void StartPotFeedbackConv(void);
    void StartPotFeedbackConvFast(void);

    void EnableAll(void);
    void DisableAll(void);

    /*******************************
     * Start of the Read Commands
     *******************************/
    // type is Long
    void GetPositions(mtsLongVec & Positions) const;

    // type is Short
    void GetVelocities(mtsShortVec & Velocities) const;

    // type is short
    void GetMotorCurrents(mtsShortVec & MotorCurrents) const;

    // type is short
    void GetPotFeedbacks(mtsShortVec & PotFeedbacks) const;

    /*******************************
     * Start of the Write Commands
     *******************************/
    // type is short
    void SetMotorVoltages(const mtsShortVec & MotorVoltages);

    // type is short
    void SetCurrentLimits(const mtsShortVec & CurrentLimits);

    // type is Long (raw positions or encoder counts)
    void SetPositions(const mtsLongVec & Positions);

    // type is void
    void LoadMotorVoltages(void);

    // type is void
    void LoadCurrentLimits(void);

    void LoadMotorVoltagesCurrentLimits(void);

    // type is shor to double
    void FrequencyToRPS(const mtsShortVec & fromData, mtsDoubleVec & toData) const;

    // type is short to double
    void ADCToMotorCurrents(const mtsShortVec & fromData, mtsDoubleVec & toData) const;

    // type is short to double
    void ADCToPotFeedbacks(const mtsShortVec & fromData, mtsVector <double> & toData) const;

    // type is DOUBLE TO SHORT
    void MotorVoltagesToDAC(const mtsDoubleVec & fromData, mtsShortVec & toData) const;

    // type is double to short
    void CurrentLimitsToDAC(const mtsDoubleVec & fromData, mtsShortVec & toData) const;

    void Enable(const mtsShort & axisIndex);

    void Disable(const mtsShort & axisIndex);

    void ResetEncoders(const mtsShort & axisIndex);

    /* set digital output */
    void SetDigitalOutput(const mtsIntVec & DigitalOutput);

    /* get digital input */
    void GetDigitalInput(mtsIntVec & DigitalInput) const;

    /* get latched index:
       might only be available in Version 0xCCDD FPGA (MR-Robot) */
    void GetLatchedIndex(mtsShortVec & latchedIndex) const;
};

CMN_DECLARE_SERVICES_INSTANTIATION(mtsLoPoMoCo);

#endif // _mtsLoPoMoCo_h