JointController.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotAPI::ArmarXObjects::JointController
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h>
 
#include <Ice/ProxyHandle.h>
 
#include <memory>
#include <atomic>
 
namespace IceProxy::armarx
{
    class DebugDrawerInterface;
    class DebugObserverInterface;
}
 
namespace armarx
{
    class ControlDevice;
    typedef ::IceInternal::ProxyHandle< ::IceProxy::armarx::DebugDrawerInterface> DebugDrawerInterfacePrx;
    typedef ::IceInternal::ProxyHandle< ::IceProxy::armarx::DebugObserverInterface> DebugObserverInterfacePrx;
 
    class JointController
    {
    public:
        virtual ~JointController() = default;
 
        virtual ControlTargetBase* getControlTarget() = 0;
 
        virtual const ControlTargetBase* getControlTarget() const;
 
        template<class T>
        const T* getControlTarget() const
        {
            return getControlTarget()->asA<const T*>();
        }
 
        virtual void rtResetTarget();
 
        virtual bool rtIsTargetValid() const;
 
        virtual const std::string& getControlMode() const;
 
        virtual std::string getHardwareControlMode() const;
 
        std::size_t getControlModeHash() const;
        std::size_t rtGetControlModeHash() const;
        std::size_t getHardwareControlModeHash() const;
        std::size_t rtGetHardwareControlModeHash() const;
 
        ControlDevice& getParent() const;
 
        virtual StringVariantBaseMap publish(const DebugDrawerInterfacePrx& draw, const DebugObserverInterfacePrx& observer) const;
 
        ControlDevice& rtGetParent() const;
        template<class T>
        T& rtGetParent() const
        {
            return dynamic_cast<T&>(rtGetParent);
        }
    protected:
        //called by the owning ControlDevice
        virtual void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) = 0;
        virtual void rtPreActivateController();
        virtual void rtPostDeactivateController();
    private:
        friend class ControlDevice;
        std::atomic_bool activated {false};
        ControlDevice* parent {nullptr};
        std::size_t controlModeHash {0};
        std::size_t hardwareControlModeHash {0};
        void rtActivate();
        void rtDeactivate();
    };
 
    template<class ControlTargetType>
    class JointControllerTemplate : public virtual JointController
    {
        static_assert(std::is_base_of<ControlTargetBase, ControlTargetType>::value, "ControlTargetType has to inherit SensorValueBase");
    public:
        using JointController::JointController;
 
        ControlTargetType* getControlTarget() final;
 
        ControlTargetType controlTarget;
    };
}
 
//inline functions
namespace armarx
{
    inline const ControlTargetBase* JointController::getControlTarget() const
    {
        return const_cast<const ControlTargetBase*>(const_cast<JointController*>(this)->getControlTarget());
    }
 
    inline void JointController::rtResetTarget()
    {
        getControlTarget()->reset();
    }
 
    inline bool JointController::rtIsTargetValid() const
    {
        return getControlTarget()->isValid();
    }
 
    inline const std::string& JointController::getControlMode() const
    {
        return getControlTarget()->getControlMode();
    }
 
    inline std::string JointController::getHardwareControlMode() const
    {
        return "";
    }
 
    inline std::size_t JointController::getControlModeHash() const
    {
        return controlModeHash;
    }
 
    inline std::size_t JointController::rtGetControlModeHash() const
    {
        return controlModeHash;
    }
 
    inline std::size_t JointController::getHardwareControlModeHash() const
    {
        return hardwareControlModeHash;
    }
 
    inline std::size_t JointController::rtGetHardwareControlModeHash() const
    {
        return hardwareControlModeHash;
    }
 
    inline ControlDevice& JointController::rtGetParent() const
    {
        return *parent;
    }
 
    inline void JointController::rtPreActivateController()
    {
 
    }
 
    inline void JointController::rtPostDeactivateController()
    {
 
    }
 
    inline void JointController::rtActivate()
    {
        rtPreActivateController();
        activated = true;
    }
 
    inline void JointController::rtDeactivate()
    {
        activated = false;
        rtPostDeactivateController();
        rtResetTarget();
    }
 
    template<class ControlTargetType>
    inline ControlTargetType* JointControllerTemplate<ControlTargetType>::getControlTarget()
    {
        return &controlTarget;
    }
}