Coach.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_HAL_COACH_H
#define RL_HAL_COACH_H
 
#include <array>
#include <sstream>
#include <string>
 
#include "CyclicDevice.h"
#include "JointPositionActuator.h"
#include "JointPositionSensor.h"
#include "JointTorqueActuator.h"
#include "JointVelocityActuator.h"
#include "Socket.h"
 
namespace rl
{
    namespace hal
    {
        class Coach : public CyclicDevice, public JointPositionActuator, public JointPositionSensor, public JointTorqueActuator, public JointVelocityActuator
        {
        public:
            Coach(
                const ::std::size_t& dof,
                const ::std::chrono::nanoseconds& updateRate,
                const ::std::size_t& i = 0,
                const ::std::string& hostname = "localhost",
                const unsigned short int& port = 11235
            );
            
            virtual ~Coach();
            
            void close();
            
            ::rl::math::Vector getJointPosition() const;
            
            void open();
            
            void setJointPosition(const ::rl::math::Vector& q);
            
            void setJointTorque(const ::rl::math::Vector& tau);
            
            void setJointVelocity(const ::rl::math::Vector& qd);
            
            void start();
            
            void step();
            
            void stop();
            
        protected:
            
        private:
            ::std::size_t i;
            
            ::std::array<char, 1024> in;
            
            ::std::stringstream out;
            
            Socket socket;
        };
    }
}
 
#endif // RL_HAL_COACH_H