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/**
* @file motor_data_checker.cpp
* @author toni <toni@shadowrobot.com>
* @date 25 Oct 2011
*
* Copyright 2011 Shadow Robot Company Ltd.
*
* 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 2 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/>.
*
*
* @brief This is a class to check that all expected initialization data have been received from each motor.
*
*
*/
#include "sr_robot_lib/motor_data_checker.hpp"
namespace generic_updater
{
const double MotorDataChecker::timeout = 5.0;
MotorDataChecker::MotorDataChecker(boost::ptr_vector<shadow_joints::Joint> joints_vector,
std::vector<UpdateConfig> initialization_configs_vector)
: nh_tilde("~"), update_state(operation_mode::device_update_state::INITIALIZATION), init_max_duration(timeout)
{
init(joints_vector, initialization_configs_vector);
}
MotorDataChecker::~MotorDataChecker()
{
for(unsigned int i=0; i<msg_checkers_.size();i++)
{
for(unsigned int j=0; j<msg_checkers_.at(i).msg_from_motor_checkers.size();j++)
{
delete msg_checkers_.at(i).msg_from_motor_checkers.at(j);
}
}
}
void MotorDataChecker::init(boost::ptr_vector<shadow_joints::Joint> joints_vector,
std::vector<UpdateConfig> initialization_configs_vector)
{
//Create a one-shot timer
check_timeout_timer = nh_tilde.createTimer(init_max_duration,
boost::bind(&MotorDataChecker::timer_callback, this, _1), true);
update_state = operation_mode::device_update_state::INITIALIZATION;
msg_checkers_.clear();
std::vector<UpdateConfig>::iterator msg_it;
for (msg_it = initialization_configs_vector.begin(); msg_it < initialization_configs_vector.end(); msg_it++)
{
MessageChecker tmp_msg_checker( static_cast<FROM_MOTOR_DATA_TYPE>(msg_it->what_to_update) );
boost::ptr_vector<shadow_joints::Joint>::iterator joint;
for (joint = joints_vector.begin(); joint < joints_vector.end(); joint++)
{
if (joint->has_motor)
{
if (msg_it->what_to_update == MOTOR_DATA_SLOW_MISC)
{
tmp_msg_checker.msg_from_motor_checkers.push_back(new SlowMessageFromMotorChecker(joint->motor->motor_id));
}
else
{
tmp_msg_checker.msg_from_motor_checkers.push_back(new MessageFromMotorChecker(joint->motor->motor_id));
}
}
}
msg_checkers_.push_back(tmp_msg_checker);
}
}
bool MotorDataChecker::check_message(boost::ptr_vector<shadow_joints::Joint>::iterator joint_tmp,
FROM_MOTOR_DATA_TYPE motor_data_type, int16u motor_slow_data_type)
{
int index_motor_data_type = 0;
index_motor_data_type = find(motor_data_type);
if (index_motor_data_type != (-1))
{
int index_motor_id = 0;
index_motor_id = msg_checkers_.at(index_motor_data_type).find(joint_tmp->motor->motor_id);
if (index_motor_id != (-1))
{
if (motor_data_type == MOTOR_DATA_SLOW_MISC)
{
SlowMessageFromMotorChecker* ptr_tmp_checker = dynamic_cast<SlowMessageFromMotorChecker*>( msg_checkers_.at(index_motor_data_type).msg_from_motor_checkers.at(index_motor_id) );
if(ptr_tmp_checker != NULL)
{
ptr_tmp_checker->set_received( static_cast<FROM_MOTOR_SLOW_DATA_TYPE>(motor_slow_data_type) );
}
else
{
ROS_ERROR_STREAM("Checker conversion failed");
}
}
else
{
msg_checkers_.at(index_motor_data_type).msg_from_motor_checkers.at(index_motor_id)->set_received();
}
}
else
{
ROS_ERROR_STREAM("Motor id not found: " << joint_tmp->motor->motor_id );
}
}
return ((update_state == operation_mode::device_update_state::OPERATION) || is_everything_checked());
}
bool MotorDataChecker::is_everything_checked()
{
std::vector<MessageChecker>::iterator it;
for (it = msg_checkers_.begin(); it < msg_checkers_.end(); it++)
{
std::vector<MessageFromMotorChecker*>::iterator it2;
for (it2 = it->msg_from_motor_checkers.begin(); it2 < it->msg_from_motor_checkers.end(); it2++)
{
if (!(*it2)->get_received())
{
return false;
}
}
}
//all the motors are initialized -> we stop the timeout timer
check_timeout_timer.stop();
update_state = operation_mode::device_update_state::OPERATION;
return true;
}
int MotorDataChecker::find(FROM_MOTOR_DATA_TYPE motor_data_type)
{
for(unsigned int i=0;i<msg_checkers_.size();i++)
{
if (msg_checkers_.at(i).msg_type == motor_data_type)
return i;
}
return (-1);
}
void MotorDataChecker::timer_callback(const ros::TimerEvent& event)
{
if( update_state == operation_mode::device_update_state::INITIALIZATION )
{
update_state = operation_mode::device_update_state::OPERATION;
ROS_ERROR_STREAM("Motor Initialization Timeout: the static information in the diagnostics may not be uptodate.");
}
}
int MessageChecker::find(int motor_id)
{
for (unsigned int i=0; i< msg_from_motor_checkers.size(); i++)
{
if (msg_from_motor_checkers.at(i)->motor_id_ == motor_id)
return i;
}
return (-1);
}
SlowMessageFromMotorChecker::SlowMessageFromMotorChecker(int id)
: MessageFromMotorChecker(id)
{
for (int i = 0; i <= MOTOR_SLOW_DATA_LAST; i++)
{
slow_data_received.at(i) = false;
}
}
void SlowMessageFromMotorChecker::set_received(FROM_MOTOR_SLOW_DATA_TYPE slow_data_type)
{
if (received_ == false)
{
//Check the slow data type as received
if ( slow_data_type > MOTOR_SLOW_DATA_LAST )
{
ROS_ERROR_STREAM("Received bad slow_data_type: " << slow_data_type << " > " << slow_data_received.size() );
return;
}
slow_data_received.at(slow_data_type) = true;
//look if every type is received, then change FROM_MOTOR_SLOW_DATA_TYPE general received state accordingly
bool checked = true;
for (int i = MOTOR_SLOW_DATA_SVN_REVISION; i <= MOTOR_SLOW_DATA_LAST; i++)
{
checked = checked && slow_data_received.at(i);
if (!checked)
{
break;
}
}
if (checked)
received_ = true;
}
}
void MessageFromMotorChecker::set_received()
{
received_ = true;
}
bool MessageFromMotorChecker::get_received()
{
return received_;
}
}
/* For the emacs weenies in the crowd.
Local Variables:
c-basic-offset: 2
End:
*/
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