Ati.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_ATI_H
#define RL_HAL_ATI_H
 
#include <string>
#include <atidaq/ftconfig.h>
 
#include "Comedi.h"
#include "CyclicDevice.h"
#include "SixAxisForceTorqueSensor.h"
 
namespace rl
{
    namespace hal
    {
        class Ati : public CyclicDevice, public SixAxisForceTorqueSensor
        {
        public:
            Ati(
                const ::std::string& calFilePath,
                const ::std::chrono::nanoseconds& updateRate = ::std::chrono::milliseconds(1),
                const unsigned short int& index = 0,
                const ::std::string& filename = "/dev/comedi0"
            );
            
            virtual ~Ati();
            
            void bias();
            
            void close();
            
            ::std::string getAxisName(const ::std::size_t& i) const;
            
            ::rl::math::Vector getForces() const;
            
            ::rl::math::Real getForcesMaximum(const ::std::size_t& i) const;
            
            ::rl::math::Real getForcesMinimum(const ::std::size_t& i) 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;
            
            ::rl::math::Real getTorquesMaximum(const ::std::size_t& i) const;
            
            ::rl::math::Real getTorquesMinimum(const ::std::size_t& i) const;
            
            void open();
            
            void resetBias();
            
            void start();
            
            void step();
            
            void stop();
            
        protected:
            
        private:
            Calibration* cal;
            
            ::std::string calFilePath;
            
            Comedi comedi;
            
            unsigned short int index;
            
            float values[6];
            
            float voltages[6];
        };
    }
}
 
#endif // RL_HAL_ATI_H