sandbox/tensioner.h

/*
 * tensioner.h
 *
 *  Created on: Jun 14, 2011
 *      Author: CJ Valle
 */

#ifndef TENSIONER_H_
#define TENSIONER_H_

#include <stdexcept>
#include <cmath>

#include <syslog.h>
#include <unistd.h> /* for close() */

#include <barrett/units.h>
#include <barrett/systems/abstract/single_io.h>

namespace barrett {
namespace systems {

template <size_t DOF>
class Tensioner : public barrett::systems::SingleIO<typename barrett::units::JointTorques<DOF>::type, typename barrett::units::JointTorques<DOF>::type> {
        BARRETT_UNITS_TEMPLATE_TYPEDEFS(DOF);

public:
        explicit Tensioner(ExecutionManager* em, const std::string& sysName = "Tensioner") :
                barrett::systems::SingleIO<jt_type,jt_type>(sysName)
        {
                watching = false;
                if (em != NULL) em->startManaging(*this);
        }

        void activate(int m, double l)
        {
                motor = m;
                limit = l;
                watching = true;

        }

        void deactivate()
        {
                watching = false;
        }

protected:

        virtual void operate()
        {
                if (watching) 
                {
                        torques = this->input.getValue();
                        if (fabs(torques[motor]) > limit)
                        {
                                watching = false;
                        }
                }
        }

public:
        bool watching;
        int motor;
        double limit;
        jt_type torques;
};
}}
#endif /* TENSIONER_H_ */