RobotInterface.h

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/*
 * Copyright (C) 2016 IIT-ADVR
 * Author: Arturo Laurenzi, Luca Muratore
 * email:  arturo.laurenzi@iit.it, luca.muratore@iit.it
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>
*/
 
#ifndef __ROBOT_INTERFACE_H__
#define __ROBOT_INTERFACE_H__
 
#include <vector>
#include <map>
#include <memory>
 
#include <cstdlib>
 
#include <XBotInterface/XBotInterface.h>
#include <XBotInterface/ModelInterface.h>
#include <XBotInterface/RobotChain.h>
 
namespace XBot
{
 
class RobotInterface : public XBotInterface
{
 
public:
 
    typedef std::shared_ptr<RobotInterface> Ptr;
    typedef std::shared_ptr<const RobotInterface> ConstPtr;
 
    RobotInterface();
    virtual ~RobotInterface() = default;
 
    
    static void clearRobotMap(void);
 
 
    static RobotInterface::Ptr getRobot(const ConfigOptions& config,
                                        const std::string& robot_name = "");
    
    static RobotInterface::Ptr getRobot(const std::string& path_to_cfg,
                                        const std::string& robot_name = "",
                                        AnyMapConstPtr any_map = AnyMapConstPtr(),
                                        const std::string& framework = "");
 
    ModelInterface& model();
 
    RobotInterface& operator=(const RobotInterface& other) = delete;
    RobotInterface(const RobotInterface& other) = delete;
 
    virtual double getTime() const = 0;
 
    virtual bool isRunning() const = 0;
 
    bool sense(bool sync_model = true, 
               bool sync_references = false);
 
    bool move();
 
    RobotChain& operator()(const std::string& chain_name);
    const RobotChain& operator()(const std::string& chain_name) const;
 
    RobotChain& chain(const std::string& chain_name);
    const RobotChain& chain(const std::string& chain_name) const;
 
    RobotChain& arm(int arm_id);
    const RobotChain& arm(int arm_id) const;
 
    RobotChain& leg(int leg_id);
    const RobotChain& leg(int leg_id) const;
 
    template <typename... SyncFlags>
    bool setReferenceFrom(const ModelInterface& model, SyncFlags... flags);
 
    // Control mode
    bool setControlMode(const ControlMode& control_mode);
    virtual bool setControlMode(const std::string& chain_name, const ControlMode& control_mode);
    bool setControlMode(const std::map<std::string, ControlMode>& control_mode);
    bool setControlMode(const std::map<int, ControlMode>& control_mode);
 
 
    void getControlMode(std::map<std::string, ControlMode>& control_mode) const;
    void getControlMode(std::map<int, ControlMode>& control_mode) const;
 
 
    // Getters for RX
 
    using XBotInterface::getJointPosition;
    using XBotInterface::getMotorPosition;
    using XBotInterface::getJointVelocity;
    using XBotInterface::getMotorVelocity;
    using XBotInterface::getJointEffort;
    using XBotInterface::getTemperature;
 
    double getTimestampRx() const;
 
 
    // Getters for TX
 
    using XBotInterface::getPositionReference;
    using XBotInterface::getVelocityReference;
    using XBotInterface::getEffortReference;
    using XBotInterface::getStiffness;
    using XBotInterface::getDamping;
 
    double getTimestampTx() const;
 
    // Setters for TX
 
    using XBotInterface::setPositionReference;
    using XBotInterface::setVelocityReference;
    using XBotInterface::setEffortReference;
    using XBotInterface::setStiffness;
    using XBotInterface::setDamping;
 
 
 
protected:
 
    virtual bool post_init();
 
    virtual bool sense_internal(bool sync_references) = 0;
    virtual bool read_sensors() = 0;
    virtual bool sense_hands() = 0;
    
    virtual bool move_internal() = 0;
    virtual bool move_hands() = 0;
    
    virtual bool init_robot(const ConfigOptions& config) = 0;
    virtual bool set_control_mode_internal(int joint_id, const ControlMode& control_mode);
 
    // Setters for RX
 
    using XBotInterface::setJointPosition;
    using XBotInterface::setMotorPosition;
    using XBotInterface::setJointVelocity;
    using XBotInterface::setMotorVelocity;
    using XBotInterface::setJointEffort;
    using XBotInterface::setTemperature;
    using XBotInterface::setJointAcceleration;
    using XBotInterface::getJointAcceleration;
    using XBotInterface::sync;
 
    using XBotInterface::getChainMap;
 
 
private:
 
    virtual bool init_internal(const ConfigOptions& config);
 
    using XBotInterface::_chain_map;
    using XBotInterface::_ordered_joint_vector;
    using XBotInterface::_ordered_chain_names;
    std::map<std::string, XBot::RobotChain::Ptr> _robot_chain_map;
    XBot::RobotChain _dummy_chain;
 
    
 
    ModelInterface::Ptr _model;
 
    static std::map<std::string, RobotInterface::Ptr> _instance_ptr_map;
 
    std::vector<std::string> _model_ordered_chain_name;
 
    double _ts_rx;
    double _ts_tx;
 
 
 
};
 
template <typename... SyncFlags>
bool XBot::RobotInterface::setReferenceFrom(const XBot::ModelInterface& model, 
                                            SyncFlags... flags )
{
    bool success = true;
    
    for (const auto & c : model._model_chain_map) {
 
        const std::string &chain_name = c.first;
        const ModelChain &chain = *c.second;
 
        if(_robot_chain_map.count(chain_name)) 
        {
            _robot_chain_map.at(chain_name)->setReferenceFrom(chain, flags...);
        } 
    }
    
    return success;
}
 
}
 
#endif // __ROBOT_INTERFACE_H__