include/barrett/products/tactile_puck.h

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#ifndef BARRETT_PRODUCTS_TACTILE_PUCK_H_
#define BARRETT_PRODUCTS_TACTILE_PUCK_H_


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


namespace barrett {


class TactilePuck : public SpecialPuck {
public:
        static const size_t NUM_SENSORS = 24;
        typedef math::Vector<NUM_SENSORS>::type v_type;

protected:
        enum TactState { NONE, TOP10_FORMAT, FULL_FORMAT, TARE };

public:
        TactilePuck(Puck* puck = NULL) : SpecialPuck() { setPuck(puck); }
        ~TactilePuck() {}
        void setPuck(Puck* puck);
        void tare() { p->setProperty(Puck::TACT, TARE); }
        void updateFull(bool realtime = false) {
                requestFull();
                receiveFull(realtime);
        }
//      void updateTop10(bool realtime = false);
        const v_type& getFullData() const { return full; }

        void requestFull();
        void receiveFull(bool realtime = false);

        struct FullTactParser {
                static int busId(int id, int propId) {
                        return Puck::encodeBusId(id, PuckGroup::FGRP_TACT_FULL);
                }

                typedef v_type result_type;
                static int parse(int id, int propId, result_type* result, const unsigned char* data, size_t len);
        };
        // TODO(dc): Implement Top10TactParser
//      struct Top10TactParser {
//              static int busId(int id, int propId) {
//                      return Puck::encodeBusId(id, PuckGroup::FGRP_TACT_TOP10);
//              }
//
//              typedef int result_type;
//              static int parse(int id, int propId, result_type* result, const unsigned char* data, size_t len) { return 0; }
//      };

protected:
        const bus::CommunicationsBus* bus;
        int id;
        int propId;

        enum TactState tact;
        v_type full;
//      int top10;


        static const size_t NUM_FULL_MESSAGES = 5;
        static const size_t NUM_SENSORS_PER_FULL_MESSAGE = 5;
        static const double FULL_SCALE_FACTOR = 256.0;


        friend class Hand;
};


}


#endif /* BARRETT_PRODUCTS_TACTILE_PUCK_H_ */