include/barrett/products/safety_module.h

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#ifndef BARRETT_PRODUCTS_SAFETY_MODULE_H_
#define BARRETT_PRODUCTS_SAFETY_MODULE_H_


#include <string>

#include <barrett/products/puck.h>
#include <barrett/products/abstract/special_puck.h>


namespace barrett {


class SafetyModule : public SpecialPuck {
public:
        enum SafetyMode {
                ESTOP, IDLE, ACTIVE
        };

        SafetyModule(Puck* puck = NULL);
        ~SafetyModule() {}
        enum SafetyMode getMode(bool realtime = false) const;
        void waitForMode(enum SafetyMode mode,
                        bool printMessage = true, double pollingPeriod_s = 0.25);
        enum SafetyMode waitForModeChange(double pollingPeriod_s = 0.25);
        static const char* getSafetyModeStr(enum SafetyMode mode) {
                return safetyModeStrs[mode];
        }
        void setMode(enum SafetyMode mode) { p->setProperty(Puck::MODE, mode); }
        bool wamIsZeroed() const { return p->getProperty(Puck::ZERO) == 1; }
        void setWamZeroed(bool zeroed = true) const {
                p->setProperty(Puck::ZERO, zeroed);
        }
        void ignoreNextVelocityFault();
        void setDefaultSafetyLimits();
        void setTorqueLimit(double fault, double warning = -1.0, int ipnm = Puck::DEFAULT_IPNM);
        void setVelocityLimit(double fault, double warning = -1.0);

        struct PendantState {
                enum Button { ESTOP, ACTIVATE, IDLE, NONE };
                enum Parameter { SAFE, WARNING, FAULT };
                enum ParameterNames {
                        VELOCITY, TORQUE, VOLTAGE, HEARTBEAT, OTHER,
                        NUM_PARAMS
                };

                enum Button pressedButton;
                bool activateLight;
                bool idleLight;
                char displayedCharacter;
                enum Parameter safetyParameters[NUM_PARAMS];

                bool allSafe() const;
                bool hasFaults() const;

                std::string toString() const;
                char decodeDisplayedCharacter() const;
        };
        void getPendantState(PendantState* ps, bool realtime = false) const;

protected:
        static const int VELOCITY_FAULT_HISTORY_BUFFER_SIZE = 5;

private:
        static const char safetyModeStrs[][15];
};


}


#endif /* BARRETT_PRODUCTS_SAFETY_MODULE_H_ */