ImplementControlCalibration.cpp

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * 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.
 */
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ImplementControlCalibration.h>
#include <yarp/os/Log.h>
 
#include <cstdio>
 
using namespace yarp::dev;
 
IControlCalibration::IControlCalibration()
{
    calibrator=nullptr;
}
 
bool IControlCalibration::setCalibrator(ICalibrator *c)
{
    if (c!=nullptr)
    {
        calibrator=c;
        return true;
    }
 
    return false;
}
 
bool IControlCalibration::calibrateRobot()
{
    bool ret = false;
    if (calibrator!=nullptr)
    {
        yDebug("Going to call calibrator\n");
        ret=calibrator->calibrate(dynamic_cast<DeviceDriver *>(this));
    }
    else
        yWarning("Warning called calibrate but no calibrator was set\n");
 
    return ret;
}
 
bool IControlCalibration::abortCalibration()
{
    bool ret=false;
    if (calibrator!=nullptr)
        ret=calibrator->quitCalibrate();
    return ret;
}
 
bool IControlCalibration::abortPark()
{
    bool ret=false;
    if (calibrator!=nullptr)
        ret=calibrator->quitPark();
    return ret;
}
 
bool IControlCalibration::park(bool wait)
{
    bool ret=false;
    if (calibrator!=nullptr)
    {
        yDebug("Going to call calibrator\n");
        ret=calibrator->park(dynamic_cast<DeviceDriver *>(this), wait);
    }
    else
        yWarning("Warning called park but no calibrator was set\n");
 
    return ret;
}
 
// ControlCalibration Interface Implementation
ImplementControlCalibration::ImplementControlCalibration(yarp::dev::IControlCalibrationRaw *y)
{
    iCalibrate = dynamic_cast<IControlCalibrationRaw *> (y);
    helper = nullptr;
    temp = nullptr;
}
 
ImplementControlCalibration::~ImplementControlCalibration()
{
    uninitialize();
}
 
bool ImplementControlCalibration::initialize(int size, const int *amap, const double *enc, const double *zos)
{
    if (helper != nullptr)
        return false;
 
    helper = (void *)(new ControlBoardHelper(size, amap, enc, zos));
    yAssert(helper != nullptr);
    temp = new double[size];
    yAssert(temp != nullptr);
    return true;
}
 
bool ImplementControlCalibration::uninitialize()
{
    if (helper != nullptr)
    {
        delete castToMapper(helper);
        helper = nullptr;
    }
 
    checkAndDestroy(temp);
 
    return true;
}
 
bool ImplementControlCalibration::calibrationDone(int j)
{
    int k = castToMapper(helper)->toHw(j);
 
    return iCalibrate->calibrationDoneRaw(k);
}
 
bool ImplementControlCalibration::calibrateAxisWithParams(int axis, unsigned int type, double p1, double p2, double p3)
{
    int k = castToMapper(helper)->toHw(axis);
 
    return iCalibrate->calibrateAxisWithParamsRaw(k, type, p1, p2, p3);
}
 
bool ImplementControlCalibration::setCalibrationParameters(int axis, const CalibrationParameters& params)
{
    int k = castToMapper(helper)->toHw(axis);
 
    return iCalibrate->setCalibrationParametersRaw(k, params);
}