WebotsDiffDrive.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------






#ifndef __WEBOTS_DIFF_DRIVE_H_
#define __WEBOTS_DIFF_DRIVE_H_

#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <math.h>
#include <iostream>
#include <fstream>

#include <pthread.h>

#include <webots/Robot.hpp>
#include <webots/DifferentialWheels.hpp>

#include <baselib.h>
#include "MotionModule.h"


namespace MipResources{
 /* @{ */


class WebotsDiffDrivePar : public DiffDrivePar{
 private:
 
 public:
  WebotsDiffDrivePar(){
  }
  ~WebotsDiffDrivePar(){
  }
};

class WebotsKoremotPar : public WebotsDiffDrivePar{
 private:
  static const string  _webotsKoremotName;
  static const Decimal _maxWheelTurnRate; /*Computed imposing 0.5 m/s */
  static const Decimal _leftDiam;
  static const Decimal _rightDiam;
  static const Decimal _axelTrack;
  static const Decimal _encoderResol;
  
  string  _providedName(){return _webotsKoremotName;}
  Decimal _providedMaxWheelTurnRate(void){return _maxWheelTurnRate;}
  Decimal _providedLeftDiam(void){return _leftDiam;}
  Decimal _providedRightDiam(void){return _rightDiam;}
  Decimal _providedAxelTrack(void){return _axelTrack;}
  Decimal _providedEncoderResol(void){return _encoderResol;}
 public:
  WebotsKoremotPar(){
  }
  ~WebotsKoremotPar(){
  }
};

class WebotsDiffDriveVar : public DiffDriveVar{
 private:

 public:
  WebotsDiffDriveVar();
  
  virtual string getName(void){
   return "WebotsDiffDrive";
  }
};


class WebotsDiffDrive : public DiffDrive, public webots::DifferentialWheels{
 private:
  
 protected:
  /* PROMEMO from more abstract classes */
  /* UnicyclePar *_par; */
  /* UnicycleVar *_var; */
  /* DiffDrivePar *_ddPar; */
  /* DiffDriveVar *_ddVar; */
  WebotsDiffDrivePar *_weboPar; 
  WebotsDiffDriveVar *_weboVar; 
  WebotsKoremotPar *_weKmPar;
  
  Thread _simuStepThread; 
  pthread_mutex_t _simuStepMutex;
  
 public:
  WebotsDiffDrive(int argc, const char* argv[]);
  
  ~WebotsDiffDrive();
  
  void setWheelCommands(Decimal leftAngVel, Decimal rightAngVel);
  
  DiffDriveEncoderReading getEncoders();
  
  void resetEncoders();
  
  int simulStep(int);
  
  void _startSimu(unsigned int num){
   _simuStepThread.startWork();
  }
  void _stopSimu(){
   _simuStepThread.stopWork();
  }
  
  void initWebotsDiffDrive();
};



 /* @} */
 
};// end namespace MipResources{

#endif