include/barrett/products/puck_group.h

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#ifndef BARRETT_PRODUCTS_PUCK_GROUP_H_
#define BARRETT_PRODUCTS_PUCK_GROUP_H_


#include <vector>

#include <barrett/bus/abstract/communications_bus.h>
#include <barrett/products/puck.h>


namespace barrett {


class PuckGroup {
public:
        PuckGroup(int id, const std::vector<Puck*>& pucks);
        ~PuckGroup();

        int getId() const { return id; }
        size_t numPucks() const { return pucks.size(); }
        int getPuckId(size_t i) const { return pucks.at(i)->getId(); }
        const std::vector<Puck*>& getPucks() const { return pucks; }

        bool verifyProperty(enum Puck::Property prop) const;

        void getProperty(enum Puck::Property prop, int results[], bool realtime = false) const;
        template<typename Parser> void getProperty(enum Puck::Property prop,
                        typename Parser::result_type results[], bool realtime = false) const;

        void setProperty(enum Puck::Property prop, int value) const;

        int getPropertyId(enum Puck::Property prop) const {
                return pucks[0]->getPropertyId(prop);
        }
        int getPropertyIdNoThrow(enum Puck::Property prop) const {
                return pucks[0]->getPropertyIdNoThrow(prop);
        }


        void sendGetPropertyRequest(int propId) const;
        template<typename Parser> void receiveGetPropertyReply(
                        int propId, typename Parser::result_type results[], bool realtime = false) const;


        enum BroadcastGroup {
                BGRP_WHOLE_BUS = Puck::GROUP_MASK | 0,  // Everything but the Safety Puck

                BGRP_WAM = Puck::GROUP_MASK | 4,  // The whole WAM (Pucks 1-7)
                BGRP_LOWER_WAM = Puck::GROUP_MASK | 1,  // A packed-torque group (Pucks 1-4)
                BGRP_UPPER_WAM = Puck::GROUP_MASK | 2,  // A packed-torque group (Pucks 5-7)

                BGRP_HAND = Puck::GROUP_MASK | 5,  // The whole hand (Pucks 11-14)
        };

        enum FeedbackGroup {
                // When responding to requests for a normal property, Pucks send to Group 6.
                FGRP_OTHER = Puck::GROUP_MASK | 6,

                // When responding to requests for motor encoder position, Pucks send to Group 3.
                FGRP_MOTOR_POSITION = Puck::GROUP_MASK | 3,
                // When responding to requests for a secondary encoder position (e.g.
                // joint encoder or break-away encoder), Pucks send to Group 7.
                FGRP_SECONDARY_POSITION = Puck::GROUP_MASK | 7,

                // On BHands with tactile sensors, TOP10 formated TACT data is sent to Group 8.
                FGRP_TACT_TOP10 = Puck::GROUP_MASK | 8,
                // On BHands with tactile sensors, FULL formated TACT data is sent to Group 9.
                FGRP_TACT_FULL = Puck::GROUP_MASK | 9,

                // Force data from the F/T Sensor is sent to group 10.
                FGRP_FT_FORCE = Puck::GROUP_MASK | 10,
                // Torque data from the F/T Sensor is sent to group 11.
                FGRP_FT_TORQUE = Puck::GROUP_MASK | 11,
                // Accelerometer data from the F/T Sensor is sent to group 12.
                FGRP_FT_ACCEL = Puck::GROUP_MASK | 12,
        };

protected:
        int id;
        std::vector<Puck*> pucks;
        const bus::CommunicationsBus& bus;
};


}


// include template definitions
#include <barrett/products/detail/puck_group-inl.h>


#endif /* BARRETT_PRODUCTS_PUCK_GROUP_H_ */