SensorValue1DoFActuator.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
 * @author     Raphael ( 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/interface/units/KinematicUnitInterface.h>
 
#include "SensorValueBase.h"
 
namespace armarx
{
 
#define make_SensorValue1DoFActuator(type, name, varname)                                          \
    class name : virtual public SensorValueBase                                                    \
    {                                                                                              \
    public:                                                                                        \
        DETAIL_SensorValueBase_DEFAULT_METHOD_IMPLEMENTATION type varname = 0.0f;                  \
        static SensorValueInfo<name>                                                               \
        GetClassMemberInfo()                                                                       \
        {                                                                                          \
            SensorValueInfo<name> svi;                                                             \
            svi.addMemberVariable(&name::varname, #varname);                                       \
            return svi;                                                                            \
        }                                                                                          \
    }
 
    make_SensorValue1DoFActuator(float, SensorValue1DoFActuatorPosition, position);
    make_SensorValue1DoFActuator(float, SensorValue1DoFActuatorVelocity, velocity);
    make_SensorValue1DoFActuator(float, SensorValue1DoFActuatorFilteredVelocity, filteredvelocity);
    make_SensorValue1DoFActuator(float, SensorValue1DoFActuatorAcceleration, acceleration);
    make_SensorValue1DoFActuator(float, SensorValue1DoFActuatorTorque, torque);
    make_SensorValue1DoFActuator(float, SensorValue1DoFGravityTorque, gravityTorque);
    make_SensorValue1DoFActuator(float, SensorValue1DoFActuatorCurrent, motorCurrent);
    make_SensorValue1DoFActuator(float, SensorValue1DoFActuatorMotorTemperature, motorTemperature);
    make_SensorValue1DoFActuator(std::int16_t, SensorValue1DoFMotorPWM, motorPWM);
 
#undef make_SensorValue1DoFActuator
 
    class SensorValue1DoFInverseDynamicsTorque : virtual public SensorValue1DoFGravityTorque
    {
    public:
        DETAIL_SensorValueBase_DEFAULT_METHOD_IMPLEMENTATION float inverseDynamicsTorque = 0.0f;
        float inertiaTorque = 0.0f;
 
        static SensorValueInfo<SensorValue1DoFInverseDynamicsTorque>
        GetClassMemberInfo()
        {
            SensorValueInfo<SensorValue1DoFInverseDynamicsTorque> svi;
            svi.addBaseClass<SensorValue1DoFGravityTorque>();
            svi.addMemberVariable(&SensorValue1DoFInverseDynamicsTorque::inverseDynamicsTorque,
                                  "inverseDynamicsTorque");
            svi.addMemberVariable(&SensorValue1DoFInverseDynamicsTorque::inertiaTorque,
                                  "inertiaTorque");
            return svi;
        }
    };
 
    class SensorValue1DoFActuator :
        virtual public SensorValue1DoFActuatorPosition,
        virtual public SensorValue1DoFActuatorVelocity,
        virtual public SensorValue1DoFActuatorAcceleration,
        virtual public SensorValue1DoFActuatorTorque,
        virtual public SensorValue1DoFInverseDynamicsTorque
    {
    public:
        DETAIL_SensorValueBase_DEFAULT_METHOD_IMPLEMENTATION static SensorValueInfo<
            SensorValue1DoFActuator>
        GetClassMemberInfo()
        {
            SensorValueInfo<SensorValue1DoFActuator> svi;
            svi.addBaseClass<SensorValue1DoFActuatorPosition>();
            svi.addBaseClass<SensorValue1DoFActuatorVelocity>();
            svi.addBaseClass<SensorValue1DoFActuatorAcceleration>();
            svi.addBaseClass<SensorValue1DoFActuatorTorque>();
            svi.addBaseClass<SensorValue1DoFInverseDynamicsTorque>();
            return svi;
        }
    };
 
    class SensorValue1DoFActuatorStatus : virtual public SensorValueBase
    {
    public:
        DETAIL_SensorValueBase_DEFAULT_METHOD_IMPLEMENTATION armarx::JointStatus status;
 
        static SensorValueInfo<SensorValue1DoFActuatorStatus>
        GetClassMemberInfo()
        {
            SensorValueInfo<SensorValue1DoFActuatorStatus> svi;
            svi.addMemberVariable(&SensorValue1DoFActuatorStatus::status, "JointStatus")
                .setFieldNames({"JointStatusError",
                                "JointStatusOperation",
                                "JointStatusEnabled",
                                "JointStatusEmergencyStop"});
            return svi;
        }
    };
 
    class SensorValue1DoFRealActuator :
        virtual public SensorValue1DoFActuator,
        virtual public SensorValue1DoFActuatorCurrent,
        virtual public SensorValue1DoFActuatorMotorTemperature
    {
    public:
        DETAIL_SensorValueBase_DEFAULT_METHOD_IMPLEMENTATION static SensorValueInfo<
            SensorValue1DoFRealActuator>
        GetClassMemberInfo()
        {
            SensorValueInfo<SensorValue1DoFRealActuator> svi;
            svi.addBaseClass<SensorValue1DoFActuator>();
            svi.addBaseClass<SensorValue1DoFActuatorCurrent>();
            svi.addBaseClass<SensorValue1DoFActuatorMotorTemperature>();
            return svi;
        }
    };
 
    class SensorValue1DoFRealActuatorWithStatus :
        virtual public SensorValue1DoFRealActuator,
        virtual public SensorValue1DoFActuatorStatus
    {
    public:
        DETAIL_SensorValueBase_DEFAULT_METHOD_IMPLEMENTATION static SensorValueInfo<
            SensorValue1DoFRealActuatorWithStatus>
        GetClassMemberInfo()
        {
            SensorValueInfo<SensorValue1DoFRealActuatorWithStatus> svi;
            svi.addBaseClass<SensorValue1DoFRealActuator>();
            svi.addBaseClass<SensorValue1DoFActuatorStatus>();
            return svi;
        }
    };
} // namespace armarx