fake_ttl_data.hpp

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/*
fake_ttl_data.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 FAKE_TTL_DATA_HPP
#define FAKE_TTL_DATA_HPP
 
#include <cstdint>
#include <string>
#include <map>
#include <vector>
 
namespace ttl_driver
{
 
class FakeTtlData
{
public:
  FakeTtlData() = default;
 
  void updateFullIdList();
 
public:
  struct AbstractFakeRegister
  {
    uint8_t id{ 0 };
    uint16_t model_number{ 0 };
 
    uint32_t position{ 0 };
    uint32_t velocity{ 0 };
 
    uint32_t min_position{ 0 };
    uint32_t max_position{ 0 };
 
    uint8_t temperature{ 0 };
    double voltage{ 0 };
    std::string firmware{};
  };
 
  struct FakeStepperRegister : public AbstractFakeRegister
  {
    uint8_t torque{ 0 };
    uint32_t v_start{ 1 };
    uint32_t a_1{ 0 };
    uint32_t v_1{ 0 };
    uint32_t a_max{ 6000 };
    uint32_t v_max{ 6 };
    uint32_t d_max{ 6000 };
    uint32_t d_1{ 0 };
    uint32_t v_stop{ 2 };
    int32_t homing_abs_position{ 0 };
    uint8_t operating_mode{ 0 };
    ;
  };
 
  struct FakeDxlRegister : public AbstractFakeRegister
  {
    uint8_t torque{ 0 };
    uint16_t position_p_gain{ 0 };
    uint16_t position_i_gain{ 0 };
    uint16_t position_d_gain{ 0 };
 
    uint16_t velocity_p_gain{ 0 };
    uint16_t velocity_i_gain{ 0 };
 
    uint16_t ff1_gain{ 0 };
    uint16_t ff2_gain{ 0 };
  };
 
  struct FakeEndEffector : public AbstractFakeRegister
  {
    uint32_t button0_action{ 1 };
    uint32_t button1_action{ 2 };
    uint32_t button2_action{ 8 };
 
    uint32_t x_value{ 1 };
    uint32_t y_value{ 1 };
    uint32_t z_value{ 1 };
 
    bool digital_input = false;
    bool digital_output = false;
  };
 
  // dxl by id
  std::map<uint8_t, FakeDxlRegister> dxl_registers;
 
  // stepper by id
  std::map<uint8_t, FakeStepperRegister> stepper_registers;
 
  // all ids
  std::vector<uint8_t> full_id_list;
 
  // end_effector
  FakeEndEffector end_effector;
};
 
inline void FakeTtlData::updateFullIdList()
{
  full_id_list.clear();
  for (auto const &it : dxl_registers)
  {
    full_id_list.emplace_back(it.first);
  }
 
  for (auto const &it : stepper_registers)
  {
    full_id_list.emplace_back(it.first);
  }
 
  if (!end_effector.firmware.empty())
    full_id_list.emplace_back(end_effector.id);
}
 
}  // namespace ttl_driver
#endif  // FAKE_TTL_DATA_HPP