vpRobotBiclopsController.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Interface for the Biclops robot.
 */
 
#ifndef _vpRobotBiclopsController_h_
#define _vpRobotBiclopsController_h_
 
#include <visp3/core/vpConfig.h>
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
#ifdef VISP_HAVE_BICLOPS
 
#include <iostream>
#include <stdio.h>
 
#include <Biclops.h>  // Contrib for Biclops sdk
#include <PMDUtils.h> // Contrib for Biclops sdk
 
#if defined(_WIN32)
class VISP_EXPORT Biclops; // needed for dll creation
#endif
 
/* ------------------------------------------------------------------------ */
/* --- CLASS ------------------------------------------------------------- */
/* ------------------------------------------------------------------------ */
 
class VISP_EXPORT vpRobotBiclopsController
{
public:
  typedef enum
  {
    STOP, 
    SPEED 
  } vpControllerStatusType;
 
public:
#ifndef DOXYGEN_SHOULD_SKIP_THIS
  typedef struct
  {
    vpControllerStatusType status[2];
    double q_dot[2];        
    double actual_q[2];     
    double actual_q_dot[2]; 
    bool jointLimit[2];     
  } shmType;
#endif /* DOXYGEN_SHOULD_SKIP_THIS */
 
  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //  vpRobotBiclopsController(const vpRobotBiclopsController &)
      //    : m_biclops(), m_axisMask(0), m_panAxis(NULL), m_tiltAxis(NULL),
      //      m_vergeAxis(NULL),
      //      m_panProfile(), m_tiltProfile(), m_vergeProfile(), m_shm(),
      //      m_stopControllerThread(false)
      //  {
      //    throw vpException(vpException::functionNotImplementedError, "Not
      //    implemented!");
      //  }
      //  vpRobotBiclopsController &operator=(const vpRobotBiclopsController &){
      //    throw vpException(vpException::functionNotImplementedError, "Not
      //    implemented!"); return *this;
      //  }
      //#endif
 
public:
  vpRobotBiclopsController();
 
  virtual ~vpRobotBiclopsController();
 
  void init(const std::string &configfile);
 
  void setPosition(const vpColVector &q, double percentVelocity);
 
  void setVelocity(const vpColVector &q_dot);
 
  vpColVector getPosition();
 
  vpColVector getActualPosition();
 
  vpColVector getVelocity();
 
  vpColVector getActualVelocity();
 
  PMDAxisControl *getPanAxis() { return m_panAxis; };
 
  PMDAxisControl *getTiltAxis() { return m_tiltAxis; };
 
  PMDAxisControl *getVergeAxis() { return m_vergeAxis; };
 
  void writeShm(shmType &shm);
 
  shmType readShm();
 
  bool isStopRequested() { return m_stopControllerThread; }
 
  void stopRequest(bool stop) { m_stopControllerThread = stop; }
 
private:
  Biclops m_biclops; // THE interface to Biclops.
  int m_axisMask;
 
  // Pointers to each axis (populated once controller is initialized).
  PMDAxisControl *m_panAxis;
  PMDAxisControl *m_tiltAxis;
  PMDAxisControl *m_vergeAxis;
 
  PMDAxisControl::Profile m_panProfile;
  PMDAxisControl::Profile m_tiltProfile;
  PMDAxisControl::Profile m_vergeProfile;
 
  shmType m_shm;
  bool m_stopControllerThread;
};
 
#endif /* #ifndef _vpRobotBiclopsController_h_ */
 
#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
#endif