AnalogSensorClient.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_ANALOGSENSORCLIENT_ANALOGSENSORCLIENT_H
#define YARP_DEV_ANALOGSENSORCLIENT_ANALOGSENSORCLIENT_H
 
 
#include <yarp/os/Network.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <yarp/dev/IAnalogSensor.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ControlBoardHelpers.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Time.h>
#include <yarp/dev/PolyDriver.h>
 
#include <mutex>
 
 
const int ANALOG_TIMEOUT=100; //ms
 
 
class InputPortProcessor : public yarp::os::BufferedPort<yarp::sig::Vector>
{
    yarp::sig::Vector lastVector;
    std::mutex mutex;
    yarp::os::Stamp lastStamp;
    double deltaT;
    double deltaTMax;
    double deltaTMin;
    double prev;
    double now;
 
    int state;
    int count;
 
public:
 
    inline void resetStat();
 
    InputPortProcessor();
 
    using yarp::os::BufferedPort<yarp::sig::Vector>::onRead;
    void onRead(yarp::sig::Vector &v) override;
 
    inline int getLast(yarp::sig::Vector &data, yarp::os::Stamp &stmp);
 
    inline int getIterations();
 
    // time is in ms
    void getEstFrequency(int &ite, double &av, double &min, double &max);
 
    int getState();
 
    int getChannels();
};
 
/*
 * The client side of any IAnalogSensor capable device.
 * Still single thread! concurrent access is unsafe.
 */
 
class AnalogSensorClient :
        public yarp::dev::DeviceDriver,
        public yarp::dev::IPreciselyTimed,
        public yarp::dev::IAnalogSensor
{
protected:
    InputPortProcessor inputPort;
    yarp::os::Port rpcPort;
    std::string local;
    std::string remote;
    yarp::os::Stamp lastTs; //used by IPreciselyTimed
    std::string robotName;
    std::string deviceId;
    std::string sensorType;
    std::string portPrefix;
 
    void  removeLeadingTrailingSlashesOnly(std::string &name);
 
public:
    AnalogSensorClient() = default;
    AnalogSensorClient(const AnalogSensorClient&) = delete;
    AnalogSensorClient(AnalogSensorClient&&) = delete;
    AnalogSensorClient& operator=(const AnalogSensorClient&) = delete;
    AnalogSensorClient& operator=(AnalogSensorClient&&) = delete;
    ~AnalogSensorClient() override = default;
 
    /* DeviceDriver methods */
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    /* IAnalogSensor methods*/
    int read(yarp::sig::Vector &out) override;
 
    /* Check the state value of a given channel.
    * @param ch: channel number.
    * @return status.
    */
    int getState(int ch) override;
 
    /* Get the number of channels of the sensor.
     * @return number of channels (0 in case of errors).
     */
    int getChannels() override;
 
    /* Calibrates the whole sensor.
     * @return status.
     */
    int calibrateSensor() override;
 
    /* Calibrates the whole sensor, using a vector of calibration values.
     * @param value: a vector of calibration values.
     * @return status.
     */
    int calibrateSensor(const yarp::sig::Vector& value) override;
 
    /* Calibrates one single channel.
     * @param ch: channel number.
     * @return status.
     */
    int calibrateChannel(int ch) override;
 
    /* Calibrates one single channel.
     * @param ch: channel number.
     * @param value: calibration value.
     * @return status.
     */
    int calibrateChannel(int ch, double value) override;
 
    /* IPreciselyTimed methods */
    yarp::os::Stamp getLastInputStamp() override;
};
 
#endif // YARP_DEV_ANALOGSENSORCLIENT_ANALOGSENSORCLIENT_H