nAxesVelocityController.hpp

// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program 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, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//

#ifndef SIMULATION_NAXES_VELOCITY_CONTROLLER_HPP
#define SIMULATION_NAXES_VELOCITY_CONTROLLER_HPP

#include <rtt/RTT.hpp>

#include <rtt/TaskContext.hpp>
#include <rtt/Ports.hpp>
#include <rtt/Event.hpp>
#include <rtt/Method.hpp>
#include <rtt/Properties.hpp>

#include "dev/SimulationAxis.hpp"
#include <rtt/dev/AxisInterface.hpp>

#include <ocl/OCL.hpp>

namespace OCL
{
    class nAxesVelocityController: public RTT::TaskContext
    {
    public:
        nAxesVelocityController(std::string name);
        virtual ~nAxesVelocityController(){};

    private:
        virtual bool startAllAxes();
        virtual bool stopAllAxes();
        virtual bool lockAllAxes();
        virtual bool unlockAllAxes();

        virtual bool configureHook();
        virtual bool startHook();
        virtual void updateHook();
        virtual void stopHook();
        virtual void cleanupHook();

        unsigned int naxes;

        std::vector<double> driveValues;
        std::vector<double> positionValues;

        std::vector<OCL::SimulationAxis*> simulation_axes;

    protected:
        Method<bool(void)> M_startAllAxes;
        Method<bool(void)> M_stopAllAxes;
        Method<bool(void)> M_unlockAllAxes;
        Method<bool(void)> M_lockAllAxes;

        RTT::DataPort<std::vector<double> > D_driveValues;
        RTT::DataPort<std::vector<double> > D_positionValues;

        RTT::Property<std::vector<double> > P_initialPositions;
        RTT::Property<unsigned int> P_naxes;

    };
}
#endif

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