abstract_stepper_driver.hpp

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/*
abstract_dxl_driver.hpp
Copyright (C) 2020 Niryo
All rights reserved.
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 3 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, see <http:// www.gnu.org/licenses/>.
*/
 
#ifndef ABSTRACT_STEPPER_DRIVER_HPP
#define ABSTRACT_STEPPER_DRIVER_HPP
 
// ttl
#include "abstract_motor_driver.hpp"
 
// std
#include <memory>
 
// common
#include "common/model/single_motor_cmd.hpp"
#include "common/model/synchronize_motor_cmd.hpp"
#include "common/model/stepper_calibration_status_enum.hpp"
 
namespace ttl_driver
{
 
    class AbstractStepperDriver : public AbstractMotorDriver
    {
    public:
        AbstractStepperDriver() = default;
        AbstractStepperDriver(std::shared_ptr<dynamixel::PortHandler> portHandler,
                              std::shared_ptr<dynamixel::PacketHandler> packetHandler);
 
    public:
        // AbstractMotorDriver interface
        std::string str() const override;
 
        int writeSingleCmd(const std::unique_ptr<common::model::AbstractTtlSingleMotorCmd> &cmd) override;
        int writeSyncCmd(int type, const std::vector<uint8_t> &ids, const std::vector<uint32_t> &params) override;
 
        virtual common::model::EStepperCalibrationStatus interpretHomingData(uint8_t status) const;
        std::string interpretErrorState(uint32_t hw_state) const override;
 
    protected:
        // AbstractTtlDriver interface
        std::string interpretFirmwareVersion(uint32_t fw_version) const override;
 
    public:
        // specific Stepper commands
 
        // ram write
        virtual int startHoming(uint8_t id) = 0;
        virtual int writeHomingSetup(uint8_t id, uint8_t direction, uint8_t stall_threshold) = 0;
        virtual int factoryCalibration(const uint8_t id, const uint32_t &command);
 
        // read
        virtual int readHomingStatus(uint8_t id, uint8_t &status) = 0;
        virtual int syncReadHomingStatus(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &status_list) = 0;
 
        virtual int readFirmwareRunning(uint8_t id, bool &is_running) = 0;
 
        virtual int syncReadHomingAbsPosition(const std::vector<uint8_t> &id_list, std::vector<uint32_t> &abs_position) = 0;
        virtual int syncWriteHomingAbsPosition(const std::vector<uint8_t> &id_list, const std::vector<uint32_t> &abs_position) = 0;
 
        // Important Remark: It is weird to have conveyor specific functions in a stepper driver
        // This is temporary waiting for a new driver abstraction design
        int readConveyorVelocity(uint8_t id, int32_t &velocity, int32_t &direction);
 
        // parameters
 
        virtual float velocityUnit() const = 0;
    };
 
} // ttl_driver
 
#endif // ABSTRACT_STEPPER_DRIVER_HPP