mtsRobotIO1394.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):  Zihan Chen, Peter Kazanzides
  Created on: 2011-06-10

  (C) Copyright 2011-2014 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 _mtsRobotIO1394_h
#define _mtsRobotIO1394_h

#include <ostream>
#include <iostream>
#include <vector>

#include <cisstMultiTask/mtsTaskPeriodic.h>

namespace sawRobotIO1394 {
    class osaPort1394;
    class mtsRobot1394;
    class mtsDigitalInput1394;
    class mtsDigitalOutput1394;
}

class mtsRobotIO1394 : public mtsTaskPeriodic {

    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION_ONEARG, CMN_LOG_ALLOW_DEFAULT);
public:
    enum { MAX_BOARDS = 16 };

protected:

    std::ostream * MessageStream;             // Stream provided to the low level boards for messages, redirected to cmnLogger

    sawRobotIO1394::osaPort1394 * mPort;
    bool mPortExceptionFlag;

    typedef std::vector<sawRobotIO1394::mtsRobot1394*> RobotsType;
    typedef RobotsType::iterator robots_iterator;
    RobotsType mRobots;

    typedef std::vector<sawRobotIO1394::mtsDigitalInput1394*> DigitalInputsType;
    typedef DigitalInputsType::iterator digital_inputs_iterator;
    DigitalInputsType mDigitalInputs;

    typedef std::vector<sawRobotIO1394::mtsDigitalOutput1394*> DigitalOutputsType;
    typedef DigitalOutputsType::iterator digital_outputs_iterator;
    DigitalOutputsType mDigitalOutputs;

public:
    // Constructor & Destructor
    mtsRobotIO1394(const std::string & name, const double periodInSeconds, const int portNumber);
    mtsRobotIO1394(const mtsTaskPeriodicConstructorArg & arg); // TODO: add port_num
    virtual ~mtsRobotIO1394();

    void Init(const int portNumber);

    void Configure(const std::string & filename);
    bool SetupRobot(sawRobotIO1394::mtsRobot1394 * robot);
    bool SetupDigitalInput(sawRobotIO1394::mtsDigitalInput1394 * digitalInput);
    bool SetupDigitalOutput(sawRobotIO1394::mtsDigitalOutput1394 * digitalOutput);
    void Startup(void);
    void Run(void);
    void Cleanup(void);
    void GetNumberOfDigitalInputs(int & placeHolder) const;
    void GetNumberOfDigitalOutputs(int & placeHolder) const;

protected:
    void GetNumberOfBoards(int & placeHolder) const;
    void GetNumberOfRobots(int & placeHolder) const;
    void GetNumberOfActuatorsPerRobot(vctIntVec & placeHolder) const;
    void GetNumberOfBrakesPerRobot(vctIntVec & placeHolder) const;

    void PreRead(void);
    void PostRead(void);
    void PreWrite(void);
    void PostWrite(void);

private:
    // Make uncopyable
    mtsRobotIO1394(const mtsRobotIO1394 &);
    mtsRobotIO1394 & operator = (const mtsRobotIO1394 &);
};

CMN_DECLARE_SERVICES_INSTANTIATION(mtsRobotIO1394);

#endif // _mtsRobotIO1394_h