mock_stepper_driver.hpp

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/*
mock_stepper_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 MOCK_STEPPER_DRIVER_HPP
#define MOCK_STEPPER_DRIVER_HPP
 
#include <memory>
#include <vector>
#include <string>
#include <iostream>
#include <sstream>
 
#include "abstract_stepper_driver.hpp"
#include "common/model/stepper_calibration_status_enum.hpp"
#include "ttl_driver/fake_ttl_data.hpp"
 
namespace ttl_driver
{
 
class MockStepperDriver : public AbstractStepperDriver
{
public:
  MockStepperDriver(std::shared_ptr<FakeTtlData> data);
 
  std::string str() const override;
 
  // AbstractTtlDriver interface : we cannot define them globally in AbstractTtlDriver
  // as it is needed here for polymorphism (AbstractTtlDriver cannot be a template class and does not
  // have access to reg_type). So it seems like a duplicate of DxlDriver
public:
  int ping(uint8_t id) override;
  int getModelNumber(uint8_t id, uint16_t &model_number) override;
  int scan(std::vector<uint8_t> &id_list) override;
  int reboot(uint8_t id) override;
 
  // eeprom write
  int changeId(uint8_t id, uint8_t new_id) override;
 
  // eeprom read
  int checkModelNumber(uint8_t id, uint16_t &model_number) override;
  int readFirmwareVersion(uint8_t id, std::string &version) override;
  int readMinPosition(uint8_t id, uint32_t &min_pos) override;
  int readMaxPosition(uint8_t id, uint32_t &max_pos) override;
 
  // ram write
  int writeTorquePercentage(uint8_t id, uint8_t torque_percentage) override;
  int writePositionGoal(uint8_t id, uint32_t position) override;
  int writeVelocityGoal(uint8_t id, uint32_t velocity) override;
 
  int syncWriteTorquePercentage(const std::vector<uint8_t> &id_list,
                                const std::vector<uint8_t> &torque_percentage_list) override;
  int syncWritePositionGoal(const std::vector<uint8_t> &id_list, const std::vector<uint32_t> &position_list) override;
  int syncWriteVelocityGoal(const std::vector<uint8_t> &id_list, const std::vector<uint32_t> &velocity_list) override;
 
  // ram read
 
  int readTemperature(uint8_t id, uint8_t &temperature) override;
  int readVoltage(uint8_t id, double &voltage) override;
  int readHwErrorStatus(uint8_t id, uint8_t &hardware_error_status) override;
 
  int readPosition(uint8_t id, uint32_t &present_position) override;
  int readVelocity(uint8_t id, uint32_t &present_velocity) override;
 
  int syncReadPosition(const std::vector<uint8_t> &id_list, std::vector<uint32_t> &position_list) override;
  int syncReadVelocity(const std::vector<uint8_t> &id_list, std::vector<uint32_t> &velocity_list) override;
  int syncReadJointStatus(const std::vector<uint8_t> &id_list,
                          std::vector<std::array<uint32_t, 2> > &data_array) override;
 
  int syncReadFirmwareVersion(const std::vector<uint8_t> &id_list, std::vector<std::string> &firmware_list) override;
  int syncReadTemperature(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &temperature_list) override;
  int syncReadVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list) override;
  int syncReadRawVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list) override;
  int syncReadHwStatus(const std::vector<uint8_t> &id_list,
                       std::vector<std::pair<double, uint8_t> > &data_list) override;
 
  int syncReadHwErrorStatus(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &hw_error_list) override;
 
  // AbstractStepperDriver interface
public:
  int readControlMode(uint8_t id, uint8_t &mode) override;
  int writeControlMode(uint8_t id, uint8_t mode) override;
 
  int readVelocityProfile(uint8_t id, std::vector<uint32_t> &data_list) override;
  int writeVelocityProfile(uint8_t id, const std::vector<uint32_t> &data) override;
 
  int startHoming(uint8_t id) override;
  int writeHomingSetup(uint8_t id, uint8_t direction, uint8_t stall_threshold) override;
 
  int readHomingStatus(uint8_t id, uint8_t &status) override;
  int syncReadHomingStatus(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &status_list) override;
 
  int readFirmwareRunning(uint8_t id, bool &is_running) override;
 
  int syncReadHomingAbsPosition(const std::vector<uint8_t> &id_list, std::vector<uint32_t> &abs_position) override;
  int syncWriteHomingAbsPosition(const std::vector<uint8_t> &id_list,
                                 const std::vector<uint32_t> &abs_position) override;
 
  float velocityUnit() const override;
 
private:
  bool init();
 
  std::shared_ptr<FakeTtlData> _fake_data;
  std::vector<uint8_t> _id_list;
 
  uint8_t _calibration_status{ CALIBRATION_IDLE };
  // fake time for calibration
  int _fake_time{ 0 };
 
  static constexpr int GROUP_SYNC_REDONDANT_ID = 10;
  static constexpr int LEN_ID_DATA_NOT_SAME = 20;
 
  static constexpr int CALIBRATION_IDLE = 0;
  static constexpr int CALIBRATION_IN_PROGRESS = 1;
  static constexpr int CALIBRATION_SUCCESS = 2;
  static constexpr int CALIBRATION_ERROR = 3;
};
 
}  // namespace ttl_driver
#endif  // MOCK_STEPPER_DRIVER_HPP