ActHandler.hpp

#ifndef _ACT_SCHILLING_ACTHANDLER_HPP_
#define _ACT_SCHILLING_ACTHANDLER_HPP_
#include <deque>
#include <base_schilling/Driver.hpp>
#include "ActRaw.hpp"
#include "Config.hpp"
#include "ActTypes.hpp"

namespace act_schilling
{
  
  class ActHandler : public base_schilling::Driver
  {
    enum ActRunState{
      RESET,
      INIT,
      INITIALIZED,
      FINDMIN,
      FINDMAX,
      SETZERO,
      GOHOME,
      RUNNING
    };
  
    struct LastPos{
      int pos;
      int count;
    };
  
    struct UpdateState{
      bool status_update;
      bool pos_update;
      bool drive_state_update;
      bool act_info_update;
    };
  
    public:
      ActHandler(const Config& config = Config());
      virtual void initDevice();
      virtual void requestStatus();
      virtual bool isIdle();
      ActData getData() const;
      ActDeviceStatus getDeviceStatus() const;
      ActState getState() const;
      void setPos(int count, float velCoeff = 1);
      void setAnglePos(double ang, double velCoeff = 1);
      void setVelocity(double vel);
      void calibrate();
      void setControlMode(act_schilling::ControlMode const mode);
      void requestPosition();
      void requestDriveStatus();
      void requestActInfo();
      ActPosition getPosition();      
      ActDriveStatus getDriveStatus();
      ActInfo getActInfo();
      ActBoundaries getBoundaries();
      bool hasStatusUpdate();
      bool hasPosUpdate();
      bool hasDriveStatusUpdate();
      bool hasActInfoUpdate();
      void setResetState();
      void clearError();
    protected:
      void enqueueCmdMsg(raw::CMD cmd,int value = 0, int length = 0);
      int extractPacket (uint8_t const *buffer, size_t buffer_size) const;
      virtual void setCS(char *cData);
      virtual void checkCS(const char *cData);
      virtual void parseReply(const std::vector<uint8_t>* buffer);
      int ang2count(double ang);
      double count2ang(int count);
      bool checkMoving(int pos);
      std::deque<std::vector<uint8_t> > mMsgQueue;
      raw::CMD mLastCmd;
    private:
      void checkRunState();
      Config mConfig;
      ActData mActData;
      ActDeviceStatus mActDevStatus;
      ActState mActState;
      ActRunState mActRunState;
      LastPos mLastPos;
      ActPosition mActPosition;
      ActDriveStatus mActDriveStatus;
      ActInfo mActInfo;
      ActBoundaries mActBoundaries;
      UpdateState mUpdateState;
  };
}

#endif