ImplementAmplifierControl.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IMPLEMENTAMPLIFIERCONTROL_H
#define YARP_DEV_IMPLEMENTAMPLIFIERCONTROL_H
 
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/api.h>
 
namespace yarp::dev {
class ImplementAmplifierControl;
}
 
class YARP_dev_API yarp::dev::ImplementAmplifierControl : public IAmplifierControl
{
protected:
    IAmplifierControlRaw *iAmplifier;
    void *helper;
    double *dTemp;
    int *iTemp;
 
    bool initialize (int size, const int *amap, const double *enc, const double *zos, const double *ampereFactor=NULL, const double *voltFactor=NULL);
 
    bool uninitialize ();
 
public:
    /* Constructor.
     * @param y is the pointer to the class instance inheriting from this
     *  implementation.
     */
    ImplementAmplifierControl(yarp::dev::IAmplifierControlRaw  *y);
 
    virtual ~ImplementAmplifierControl();
 
    bool enableAmp(int j) override;
 
    bool disableAmp(int j) override;
 
    /* Get the status of the amplifiers, coded in a 32 bits integer for
     * each amplifier (at the moment contains only the fault, it will be
     * expanded in the future).
     * @param st pointer to storage
     * @return true in good luck, false otherwise.
     */
    bool getAmpStatus(int *st) override;
 
    bool getAmpStatus(int j, int *st) override;
 
    /* Read the electric current going to all motors.
     * @param vals pointer to storage for the output values
     * @return hopefully true, false in bad luck.
     */
    bool getCurrents(double *vals) override;
 
    /* Read the electric current going to a given motor.
     * @param j motor number
     * @param val pointer to storage for the output value
     * @return probably true, might return false in bad times
     */
    bool getCurrent(int j, double *val) override;
 
    /* Set the maximum electric current going to a given motor. The behavior
     * of the board/amplifier when this limit is reached depends on the
     * implementation.
     * @param j motor number
     * @param v the new value
     * @return probably true, might return false in bad times
     */
    bool setMaxCurrent(int j, double v) override;
 
    bool getMaxCurrent(int j, double *v) override;
 
    /* Get the the nominal current which can be kept for an indefinite amount of time
     * without harming the motor. This value is specific for each motor and it is typically
     * found in its datasheet. The units are Ampere.
     * This value and the peak current may be used by the firmware to configure
     * an I2T filter.
     * @param j joint number
     * @param val storage for return value. [Ampere]
     * @return true/false success failure.
     */
    bool getNominalCurrent(int m, double *val) override;
 
    /* Set the the nominal current which can be kept for an indefinite amount of time
    * without harming the motor. This value is specific for each motor and it is typically
    * found in its datasheet. The units are Ampere.
    * This value and the peak current may be used by the firmware to configure
    * an I2T filter.
    * @param j joint number
    * @param val storage for return value. [Ampere]
    * @return true/false success failure.
    */
    bool setNominalCurrent(int m, const double val) override;
 
    /* Get the the peak current which causes damage to the motor if maintained
     * for a long amount of time.
     * The value is often found in the motor datasheet, units are Ampere.
     * This value and the nominal current may be used by the firmware to configure
     * an I2T filter.
     * @param j joint number
     * @param val storage for return value. [Ampere]
     * @return true/false success failure.
     */
    bool getPeakCurrent(int m, double *val) override;
 
    /* Set the the peak current. This value  which causes damage to the motor if maintained
     * for a long amount of time.
     * The value is often found in the motor datasheet, units are Ampere.
     * This value and the nominal current may be used by the firmware to configure
     * an I2T filter.
     * @param j joint number
     * @param val storage for return value. [Ampere]
     * @return true/false success failure.
     */
    bool setPeakCurrent(int m, const double val) override;
 
    /* Get the the current PWM value used to control the motor.
     * The units are firmware dependent, either machine units or percentage.
     * @param j joint number
     * @param val filled with PWM value.
     * @return true/false success failure.
     */
    bool getPWM(int j, double* val) override;
 
    /* Get the PWM limit for the given motor.
     * The units are firmware dependent, either machine units or percentage.
     * @param j joint number
     * @param val filled with PWM limit value.
     * @return true/false success failure.
     */
    bool getPWMLimit(int j, double* val) override;
 
    /* Set the PWM limit for the given motor.
     * The units are firmware dependent, either machine units or percentage.
     * @param j joint number
     * @param val new value for the PWM limit.
     * @return true/false success failure.
     */
    bool setPWMLimit(int j, const double val) override;
 
    /* Get the power source voltage for the given motor in Volt.
     * @param j joint number
     * @param val filled with return value.
     * @return true/false success failure.
     */
    bool getPowerSupplyVoltage(int j, double* val) override;
};
 
 
#endif // YARP_DEV_IMPLEMENTAMPLIFIERCONTROL_H