dummyinterface.h

// NimbRo-OP robot hardware interface (dummy)
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>

// Ensure header is only included once
#ifndef NOP_DUMMY_INTERFACE_H
#define NOP_DUMMY_INTERFACE_H

// Includes
#include <nimbro_op_interface/robotinterface.h>
#include <boost/circular_buffer.hpp>
#include <config_server/parameter.h>

// NimbRo-OP interface namespace
namespace nimbro_op_interface
{
    // DummyInterface class
    class DummyInterface : public nimbro_op_interface::RobotInterface
    {
    public:
        // Constructor/destructor
        DummyInterface();
        virtual ~DummyInterface();
        
        // Virtual function overrides
        virtual bool sendJointTargets();
        virtual bool readJointStates();
        
    protected:
        // Virtual functions to override attempts to connect to the CM730
        virtual bool initCM730() { return true; }
        virtual int  readFeedbackData(bool onlyTryCM730);
        virtual bool syncWriteJointTargets(size_t numDevices, const uint8_t* data);
        virtual bool syncWriteTorqueEnable(size_t numDevices, const uint8_t* data) { return true; }
        virtual bool syncWriteTorqueLimit(size_t numDevices, const uint8_t* data) { return true; }
        virtual bool useModel() const { return m_useModel(); }
    
    private:
        // Constants
        const std::string CONFIG_PARAM_PATH;

        // Config server parameters
        config_server::Parameter<bool>  m_useModel;
        config_server::Parameter<bool>  m_addDelay;
        config_server::Parameter<bool>  m_noiseEnable;
        config_server::Parameter<float> m_noiseMagnitude;
        config_server::Parameter<bool>  m_buttonPress0;
        config_server::Parameter<bool>  m_buttonPress1;
        config_server::Parameter<bool>  m_buttonPress2;
        config_server::Parameter<int>   m_fakeTemperature;
        config_server::Parameter<float> m_fakeIMUGyroX;
        config_server::Parameter<float> m_fakeIMUGyroY;
        config_server::Parameter<float> m_fakeIMUGyroZ;
        config_server::Parameter<float> m_fakeIMUAccX;
        config_server::Parameter<float> m_fakeIMUAccY;
        config_server::Parameter<float> m_fakeIMUAccZ;
        config_server::Parameter<float> m_fakeIMUMagX;
        config_server::Parameter<float> m_fakeIMUMagY;
        config_server::Parameter<float> m_fakeIMUMagZ;
        config_server::Parameter<bool>  m_fakeAttEnable;
        config_server::Parameter<float> m_fakeAttFusedX;
        config_server::Parameter<float> m_fakeAttFusedY;
        config_server::Parameter<float> m_fakeAttFusedZ;
        config_server::Parameter<bool>  m_fakeAttFusedHemi;
        
        // Config server callbacks
        void updateUseModel();
        
        // Misc flags
        bool m_calledReadFeedback;
    
        // Joint command data buffer
        typedef std::map<uint8_t, JointCmdSyncWriteData> JointCmd;
        boost::circular_buffer<JointCmd> m_jointCmdBuf;
    };
}

#endif

// EOF