Jr3Pci.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __JR3_PCI_HPP__
#define __JR3_PCI_HPP__
 
#include <string>
#include <vector>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IAnalogSensor.h>
#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
 
#include <jr3pci-ioctl.h>
 
namespace roboticslab
{
 
class Jr3Pci : public yarp::dev::DeviceDriver,
               public yarp::dev::IAnalogSensor,
               public yarp::dev::ISixAxisForceTorqueSensors
{
public:
    Jr3Pci() : fd(0)
    { }
 
    ~Jr3Pci() override
    { close(); }
 
    //  --------- DeviceDriver Declarations. Implementation in DeviceDriverImpl.cpp ---------
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    //  --------- IAnalogSensor Declarations. Implementation in IAnalogSensorImpl.cpp ---------
    int read(yarp::sig::Vector &out) override;
 
    int getState(int ch) override;
 
    int getChannels() override;
 
    int calibrateSensor() override;
 
    int calibrateSensor(const yarp::sig::Vector& value) override;
 
    int calibrateChannel(int ch) override;
 
    int calibrateChannel(int ch, double value) override;
 
    //  --------- ISixAxisForceTorqueSensors Declarations. Implementation in ISixAxisForceTorqueSensorsImpl.cpp ---------
    std::size_t getNrOfSixAxisForceTorqueSensors() const override;
    yarp::dev::MAS_status getSixAxisForceTorqueSensorStatus(std::size_t sens_index) const override;
    bool getSixAxisForceTorqueSensorName(std::size_t sens_index, std::string & name) const override;
    bool getSixAxisForceTorqueSensorFrameName(std::size_t sens_index, std::string & name) const override;
    bool getSixAxisForceTorqueSensorMeasure(std::size_t sens_index, yarp::sig::Vector & out, double & timestamp) const override;
 
private:
    void loadFilters(int id);
 
    int fd {0};
    force_array fs[4];
    unsigned long int filters[4];
    std::vector<std::string> names {"ch0", "ch1", "ch2", "ch3"};
    bool isDextrorotary {false};
};
 
} // namespace roboticslab
 
#endif // __JR3_PCI_HPP__