ImplementControlMode.cpp

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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.
 */
 
#include <yarp/dev/ImplementControlMode.h>
#include <yarp/dev/ControlBoardHelper.h>
#include <yarp/dev/impl/FixedSizeBuffersManager.h>
 
#include <cstdio>
using namespace yarp::dev;
using namespace yarp::os;
 
#define JOINTIDCHECK if (j >= castToMapper(helper)->axes()){yError("joint id out of bound"); return false;}
 
ImplementControlMode::ImplementControlMode(IControlModeRaw *r):
    helper(nullptr),
    raw(r),
    buffManager(nullptr)
{;}
 
bool ImplementControlMode::initialize(int size, const int *amap)
{
    if (helper!=nullptr)
        return false;
 
    helper=(void *)(new ControlBoardHelper(size, amap));
    yAssert (helper != nullptr);
 
    buffManager = new yarp::dev::impl::FixedSizeBuffersManager<int> (size);
    yAssert (buffManager != nullptr);
    return true;
}
 
ImplementControlMode::~ImplementControlMode()
{
    uninitialize();
}
 
bool ImplementControlMode::uninitialize ()
{
    if (helper!=nullptr)
    {
        delete castToMapper(helper);
        helper=nullptr;
    }
 
    if (buffManager!=nullptr)
    {
        delete buffManager;
        buffManager=nullptr;
    }
    return true;
}
 
bool ImplementControlMode::getControlMode(int j, int *f)
{
    JOINTIDCHECK
    int k=castToMapper(helper)->toHw(j);
    return raw->getControlModeRaw(k, f);
}
 
bool ImplementControlMode::getControlModes(int *modes)
{
    yarp::dev::impl::Buffer<int> buffValues = buffManager->getBuffer();
 
    bool ret=raw->getControlModesRaw(buffValues.getData());
    castToMapper(helper)->toUser(buffValues.getData(), modes);
 
    buffManager->releaseBuffer(buffValues);
    return ret;
}
 
bool ImplementControlMode::getControlModes(const int n_joint, const int *joints, int *modes)
{
    if(!castToMapper(helper)->checkAxesIds(n_joint, joints))
        return false;
 
    yarp::dev::impl::Buffer<int> buffValues = buffManager->getBuffer();
 
    for(int idx=0; idx<n_joint; idx++)
    {
        buffValues[idx] = castToMapper(helper)->toHw(joints[idx]);
    }
    bool ret = raw->getControlModesRaw(n_joint, buffValues.getData(), modes);
 
    buffManager->releaseBuffer(buffValues);
    return ret;
}
 
bool ImplementControlMode::setControlMode(const int j, const int mode)
{
    JOINTIDCHECK
    int k=castToMapper(helper)->toHw(j);
    return raw->setControlModeRaw(k, mode);
}
 
bool ImplementControlMode::setControlModes(const int n_joint, const int *joints, int *modes)
{
    if(!castToMapper(helper)->checkAxesIds(n_joint, joints))
        return false;
 
    yarp::dev::impl::Buffer<int> buffValues  = buffManager->getBuffer();
 
    for(int idx=0; idx<n_joint; idx++)
    {
        buffValues[idx] = castToMapper(helper)->toHw(joints[idx]);
    }
    bool ret = raw->setControlModesRaw(n_joint, buffValues.getData(), modes);
 
    buffManager->releaseBuffer(buffValues);
    return ret;
}
 
bool ImplementControlMode::setControlModes(int *modes)
{
    yarp::dev::impl::Buffer<int> buffValues  = buffManager->getBuffer();
    for(int idx=0; idx<castToMapper(helper)->axes(); idx++)
    {
        buffValues[castToMapper(helper)->toHw(idx)] = modes[idx];
    }
    bool ret = raw->setControlModesRaw(buffValues.getData());
    buffManager->releaseBuffer(buffValues);
    return ret;
}