YouBotSlaveMsg.hpp

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/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
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 * This program is free software: you can redistribute it and/or modify
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#ifndef _YOUBOT_SLAVE_MESSAGE_H
#define _YOUBOT_SLAVE_MESSAGE_H

#include "generic/dataobjectlockfree/DataObjectLockFree.hpp"
#include <ethercattype.h>
#include <string>
#include <time.h>

namespace youbot {

  /// Output part from the EtherCat message of the youBot EtherCat slaves

  struct SlaveMessageOutput {
    int32 value;
    uint8 controllerMode;
    SlaveMessageOutput():value(0),controllerMode(0) { };
  } __attribute__((__packed__));


  /// Input part from the EtherCat message of the youBot EtherCat slaves

  struct SlaveMessageInput {
    int32 actualPosition;   // encoder ticks
    int32 actualCurrent;    // mA
    int32 actualVelocity;   // rpm motor axis
    uint32 errorFlags;
    int32 targetPosition;
    int32 targetCurrent;
    int32 targetVelocity;
    int32 rampGeneratorVelocity;

    SlaveMessageInput():
    actualPosition(0),actualCurrent(0),actualVelocity(0),
    errorFlags(0),targetPosition(0),targetCurrent(0),
    targetVelocity(0),rampGeneratorVelocity(0) { };
  } __attribute__((__packed__));

  ///////////////////////////////////////////////////////////////////////////////
  /// EtherCat message of the youBot EtherCat slaves
  ///////////////////////////////////////////////////////////////////////////////
  class YouBotSlaveMsg {
  public:


    SlaveMessageOutput stctOutput;
    SlaveMessageInput stctInput;
    unsigned int jointNumber;

    // Constructor

    YouBotSlaveMsg() {
      jointNumber = 0;
    }

    // Copy-Constructor

    YouBotSlaveMsg(const YouBotSlaveMsg &copy) {
      stctOutput = copy.stctOutput;
      stctInput = copy.stctInput;
      jointNumber = copy.jointNumber;
    }

    // Destructor

    ~YouBotSlaveMsg() {
    }

    // assignment operator

    YouBotSlaveMsg & operator=(const YouBotSlaveMsg &copy) {
      stctOutput = copy.stctOutput;
      stctInput = copy.stctInput;
      jointNumber = copy.jointNumber;
      return *this;
    }
  };
  
  ///////////////////////////////////////////////////////////////////////////////
  /// EtherCat message of the youBot EtherCat slaves which is thread safe
  ///////////////////////////////////////////////////////////////////////////////
  class YouBotSlaveMsgThreadSafe {
  public:


    DataObjectLockFree<SlaveMessageOutput> stctOutput;
    DataObjectLockFree<SlaveMessageInput> stctInput;
    DataObjectLockFree<unsigned int> jointNumber;

    // Constructor
    YouBotSlaveMsgThreadSafe() {
      jointNumber.Set(0);
    }

    
    // Copy-Constructor
    YouBotSlaveMsgThreadSafe(const YouBotSlaveMsgThreadSafe &copy) {
      SlaveMessageOutput tempOutput;
      SlaveMessageInput tempInput;
      unsigned int tempjointNo;
      
      copy.stctOutput.Get(tempOutput);
      stctOutput.Set(tempOutput);
      
      copy.stctInput.Get(tempInput);
      stctInput.Set(tempInput);
              
      copy.jointNumber.Get(tempjointNo);
      jointNumber.Set(tempjointNo);
    }

    // Destructor
    ~YouBotSlaveMsgThreadSafe() {
    }

    // assignment operator
    YouBotSlaveMsgThreadSafe & operator=(const YouBotSlaveMsgThreadSafe &copy) {
      SlaveMessageOutput tempOutput;
      SlaveMessageInput tempInput;
      unsigned int tempjointNo;
      
      copy.stctOutput.Get(tempOutput);
      stctOutput.Set(tempOutput);
      
      copy.stctInput.Get(tempInput);
      stctInput.Set(tempInput);
              
      copy.jointNumber.Get(tempjointNo);
      jointNumber.Set(tempjointNo);

      return *this;
    }
 
  };

} // namespace youbot

#endif  /* _YOUBOT_SLAVE_MESSAGE_H */