osaPuck.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 _osaPuck_h
#define _osaPuck_h

#include <sawCANBus/osaCANBus.h>
#include <sawBarrett/Barrett.h>

#include <sawBarrett/sawBarrettExport.h>


class CISST_EXPORT osaPuck {

public:


  enum ID { PUCK_ID1=1,                // ID for a 4/7 DOF WAM
        PUCK_ID2=2, 
        PUCK_ID3=3,
        PUCK_ID4=4, 
        PUCK_ID5=5, 
        PUCK_ID6=6, 
        PUCK_ID7=7,
        SAFETY_MODULE_ID=10,      // ID for WAM safety module
        PUCK_IDF1=11,             // ID for BH 280
        PUCK_IDF2=12,
        PUCK_IDF3=13,
        PUCK_IDF4=14  };


  static const Barrett::Value STATUS_RESET = 0;
  static const Barrett::Value STATUS_READY = 2;  


  static const Barrett::Value MODE_IDLE = 0;
  static const Barrett::Value MODE_TORQUE = 2;
  static const Barrett::Value MODE_POSITION = 3;
  static const Barrett::Value MODE_PID = 3;
  static const Barrett::Value MODE_VELOCITY = 4;
  static const Barrett::Value MODE_TRAPEZOIDAL = 5;

  enum Errno{ ESUCCESS, EFAILURE };

private:

  std::string LogPrefix();

  

  osaCANBus*   canbus;

  osaPuck::ID  id;

  Barrett::Value cntprev;

  Barrett::Value ipnm;

  Barrett::Value grpidx;

  Barrett::Value imax;
  
  Barrett::Value encpos;

  Barrett::Value mcurrent;

  Barrett::Value groupA, groupB, groupC;
  

  static osaCANBusFrame::ID CANID( osaPuck::ID id );


  static bool IsSetFrame( const osaCANBusFrame& canframe );
  

  osaPuck::Errno PackProperty( osaCANBusFrame& canframe,
                   Barrett::Command command,
                   Barrett::ID id,
                   Barrett::Value val = 0 );
  
public:
  
  osaPuck();


  osaPuck( osaPuck::ID id, osaCANBus* can, bool createfilter=true );

  osaPuck::ID GetID() const;


  static osaPuck::ID OriginID( osaCANBusFrame::ID id );


  static osaPuck::ID OriginID( const osaCANBusFrame& canframe );


  static osaPuck::ID DestinationID( osaCANBusFrame::ID id );


  static osaPuck::ID DestinationID( const osaCANBusFrame& canframe );


  Barrett::Value GroupIndex() const ;

  Barrett::Value IpNm() const ;

  Barrett::Value CountsPerRevolution() const ;


  osaPuck::Errno InitializeMotor();



  osaPuck::Errno InitializeSM();

  
  osaPuck::Errno SetMode( Barrett::Value mode );
  osaPuck::Errno GetMode( Barrett::Value& mode );

  osaPuck::Errno GetGroupA();
  osaPuck::Errno GetGroupB();
  osaPuck::Errno GetGroupC();

  osaPuck::Errno SetGroupA( Barrett::Value A );
  osaPuck::Errno SetGroupB( Barrett::Value B );
  osaPuck::Errno SetGroupC( Barrett::Value C );

  osaPuck::Errno GetStatus( Barrett::Value& status );

  osaPuck::Errno GetCountsPerRev();
  osaPuck::Errno GetIpNm();
  osaPuck::Errno GetGroupIndex();
  osaPuck::Errno GetMembership();


  osaPuck::Errno IgnoreFault( Barrett::Value fault );

  osaPuck::Errno SetVelocityWarning( Barrett::Value vw );
  osaPuck::Errno SetVelocityFault( Barrett::Value vf );

  osaPuck::Errno SetTorqueWarning( Barrett::Value tw );
  osaPuck::Errno SetTorqueFault( Barrett::Value tf );


  osaPuck::Errno GetProperty( Barrett::ID id, Barrett::Value& value );


  osaPuck::Errno SetProperty( Barrett::ID propid, 
                Barrett::Value propval, 
                bool verify );

  osaPuck::Errno Reset();

  osaPuck::Errno Ready();

  osaPuck::Errno SetPosition( double q );
  osaPuck::Errno GetPosition( Barrett::Value& position );
  

  osaPuck::Errno UnpackCANFrame( const osaCANBusFrame& canframe, 
                 Barrett::ID& id, 
                 Barrett::Value& value );
  
}; 

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



typedef osaPuck osaSafetyModule;

#endif