ATINetFTUnit.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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    VisionX::ArmarXObjects::ATINetFTUnit
 * @author     Jonas Rauber ( kit at jonasrauber dot de )
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <fstream>
 
#include <netinet/in.h>
 
#include <ArmarXCore/core/Component.h>
 
#include <RobotAPI/interface/units/ATINetFTUnit.h>
#include <RobotAPI/interface/units/UnitInterface.h>
 
namespace armarx
{
    /**
     * @class ATINetFTUnitPropertyDefinitions
     * @brief
     */
    class ATINetFTUnitPropertyDefinitions : public ComponentPropertyDefinitions
    {
    public:
        ATINetFTUnitPropertyDefinitions(std::string prefix) : ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "ATINetFTHostName",
                "i61ATINetFT1:801",
                "ATINetFT host name and port, usually i61ATINetFT1:801 or i61ATINetFT2:801");
            defineOptionalProperty<std::string>(
                "DatabasePathName", "", "Path name to motion database on receiving ATINetFT host");
            defineOptionalProperty<std::string>(
                "CaptureName", "Trial01", "Custom name of first trial in motion recording session");
            defineOptionalProperty<std::string>(
                "ATINetFTReceiveHostName",
                "i61ATINetFT1:801",
                "ATINetFT host name and port, usually i61ATINetFT1:801 or i61ATINetFT2:801");
            defineOptionalProperty<float>(
                "xOffset",
                0.0f,
                "Offset along x axis from VirtualRobot origin to ATINetFT reference marker");
            defineOptionalProperty<float>(
                "yOffset",
                0.0f,
                "Offset along y axis from VirtualRobot origin to ATINetFT reference marker");
            defineOptionalProperty<float>(
                "zOffset",
                0.0f,
                "Offset along z axis from VirtualRobot origin to ATINetFT reference marker");
        }
    };
 
    /**
     * @class ATINetFTUnit
     * @ingroup VisionX-Components
     * @brief ArmarX wrapper of the ATINetFT DataStream SDK
     *
     * Documentation mainly uses the term subject instead of object, as that's the
     * common term in the context of ATINetFT.
     */
    class ATINetFTUnit : virtual public armarx::Component, virtual public ATINetFTUnitInterface
    {
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "ATINetFTUnit";
        }
 
        void startRecording(const std::string& customName, const Ice::Current& c) override;
 
 
        void stopRecording(const Ice::Current& c) override;
 
        bool
        isComponentOnline(const Ice::Current& c) override
        {
            return remoteTriggerEnabled;
        };
 
        void request(const Ice::Current& c) override{};
 
        void
        release(const Ice::Current& c) override
        {
        }
 
        void
        init(const Ice::Current& c) override
        {
        }
 
        void
        start(const Ice::Current& c) override
        {
        }
 
        void
        stop(const Ice::Current& c) override
        {
        }
 
        armarx::UnitExecutionState
        getExecutionState(const Ice::Current& c) override
        {
            return armarx::eUndefinedUnitExecutionState;
        }
 
    protected:
        /**
         * @see armarx::ManagedIceObject::onInitComponent()
         */
        void onInitComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onConnectComponent()
         */
        void onConnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onDisconnectComponent()
         */
        void onDisconnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onExitComponent()
         */
        void onExitComponent() override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
 
    private:
        /**
         * The ATINetFT DataStream SDK Client
         */
 
 
        void periodicExec();
        void establishATINetFTReceiveHostConnection(std::string receiverHostName);
        bool sendPacket(char* bytePacket, int bpSize);
        bool receivePacket(char* bytePacket);
        void convertToFTValues(char* receiveBuf, float* ftdata, int ftdataSize);
        void writeFTValuesToFile(float* ftdata, int ftdataSize);
 
        std::ofstream recordingFile;
 
        bool remoteTriggerEnabled;
        bool recordingStarted;
        bool recordingStopped;
        bool recordingCompleted;
 
        int packetID;
        int ftDataSize;
        int sendPacketSize;
        int receivePacketSize;
        int captureNumber;
        int senderSocket;
        int nPaddingZeros;
        int sampleIndex;
 
        std::string captureNamePrefix;
        std::string databasePathName;
        struct sockaddr_in receiveHostAddr;
        struct sockaddr_in senderHostAddr;
    };
} // namespace armarx