WeissKms40.h

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//
// Copyright (c) 2016, 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_WEISSKMS40_H
#define RL_HAL_WEISSKMS40_H
 
#include <cstdint>
#include <string>
#include <boost/dynamic_bitset.hpp>
#include <rl/math/Matrix.h>
 
#include "CyclicDevice.h"
#include "Device.h"
#include "SixAxisForceTorqueSensor.h"
#include "Socket.h"
 
namespace rl
{
    namespace hal
    {
        class WeissKms40 : public CyclicDevice, public SixAxisForceTorqueSensor
        {
        public:
            enum SystemState
            {
                SYSTEM_STATE_SCRIPT_FAILURE = 1073741824,
                SYSTEM_STATE_CMD_FAILURE = 536870912,
                SYSTEM_STATE_POWER_FAULT = 268435456,
                SYSTEM_STATE_TEMP_FAULT = 134217728,
                SYSTEM_STATE_CALIBRATION_FAULT = 67108864,
                SYSTEM_STATE_OVERRUN_MZ = 33554432,
                SYSTEM_STATE_OVERRUN_MY = 16777216,
                SYSTEM_STATE_OVERRUN_MX = 8388608,
                SYSTEM_STATE_OVERRUN_FZ = 4194304,
                SYSTEM_STATE_OVERRUN_FY = 2097152,
                SYSTEM_STATE_OVERRUN_FX = 1048576,
                SYSTEM_STATE_TEMP_WARNING = 2048,
                SYSTEM_STATE_CALIBRATION_EXPIRED = 1024,
                SYSTEM_STATE_SCRIPT_RUNNING = 32,
                SYSTEM_STATE_DAQ_RUNNING = 16,
                SYSTEM_STATE_FILTER_ENABLED = 8,
                SYSTEM_STATE_TARA = 4,
                SYSTEM_STATE_STABLE = 2,
                SYSTEM_STATE_CALIBRATION_VALID = 1
            };
            
            WeissKms40(
                const ::std::string& address = "192.168.1.30",
                const unsigned short int& port = 1000,
                const ::std::size_t& filter = 0,
                const ::std::size_t& divider = 1
            );
            
            virtual ~WeissKms40();
            
            void close();
            
            ::rl::math::Vector doAcquireSingleFrame();
            
            ::std::pair< ::std::chrono::system_clock::time_point, ::std::chrono::system_clock::duration> doGetCalibrationDateLifetime();
            
            ::rl::math::Matrix doGetCalibrationMatrix();
            
            ::boost::dynamic_bitset<> doGetDataAcquisitionMask();
            
            ::std::string doGetDescriptorString();
            
            ::std::size_t doGetFilter();
            
            ::std::string doGetFirmwareVersion();
            
            ::std::size_t doGetFrameSendDivider();
            
            ::std::size_t doGetSerialNumber();
            
            SystemState doGetSystemFlags();
            
            ::std::string doGetSystemType();
            
            bool doGetTare();
            
            float doGetTemperature();
            
            ::std::size_t doGetVerboseLevel();
            
            ::std::vector< ::std::string> doPrintVariable(const ::std::vector< ::std::string>& variables);
            
            ::boost::dynamic_bitset<> doSetDataAcquisitionMask(const ::boost::dynamic_bitset<>& mask);
            
            ::std::string doSetDescriptorString(const ::std::string& value);
            
            ::std::size_t doSetFilter(const ::std::size_t& value);
            
            ::std::size_t doSetFrameSendDivider(const ::std::size_t& value);
            
            bool doSetTare(const bool& doOn);
            
            ::std::size_t doSetVerboseLevel(const ::std::size_t& level);
            
            void doStartContinuousDataAcquisition();
            
            void doStopContinuousDataAcquisition();
            
            ::rl::math::Vector getForces() const;
            
            ::rl::math::Vector getForcesTorques() const;
            
            ::rl::math::Real getForcesTorquesMaximum(const ::std::size_t& i) const;
            
            ::rl::math::Real getForcesTorquesMinimum(const ::std::size_t& i) const;
            
            ::rl::math::Vector getTorques() const;
            
            void open();
            
            void start();
            
            void step();
            
            void stop();
            
        protected:
            
        private:
            ::std::string recv(const ::std::string& command);
            
            ::std::size_t divider;
            
            ::std::size_t filter;
            
            ::rl::math::Vector frame;
            
            Socket socket;
        };
    }
}
 
#endif // RL_HAL_WEISSKMS40_H