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liboncilla-hw/src/liboncilla-hw/HWOncillaBackend.cpp
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HWOncillaBackend.cpp
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#include "HWOncillaBackend.h"
#include <sys/mman.h>
#include <liboncilla/nodes/Nodes.h>
#include <liboncilla/nodes/SupervisorNodes.h>
#include <liboncilla-hw/xenomai-utils/Utils.h>
#include "liboncilla-hw/nodes/Nodes.h"
//export the plugin
BIOROB_CPP_EXPORT_PLUGIN(OncillaBackend, HWOncillaBackend);
namespace ro = rci::oncilla;
namespace loh = liboncilla::hw;
const char * HWOncillaBackend::L1_POSITION_SUFFIX = "_L1";
const char * HWOncillaBackend::L2_POSITION_SUFFIX = "_L2";
const char * HWOncillaBackend::ME1_SUFFIX = "_ME1";
const char * HWOncillaBackend::ME2_SUFFIX = "_ME2";
const char * HWOncillaBackend::ME3_SUFFIX = "_ME3";
HWOncillaBackend::HWOncillaBackend(){
// first thing is to lock memory as soon as possible, so In the entry point
// of the module
LockMemory();
d_config.LoadAllFiles();
d_synchronizer = loh::Synchronizer::Ptr(new loh::Synchronizer(d_config));
}
void HWOncillaBackend::LockMemory() {
int res;
if ( ( res = mlockall(MCL_CURRENT | MCL_FUTURE)) != 0 ){
throw liboncilla::hw::NativeError("Error while locking memory",res);
}
}
HWOncillaBackend::~HWOncillaBackend(){
}
boost::shared_ptr<rci::oncilla::Synchronizer> HWOncillaBackend::CreateSynchronizer(){
return boost::static_pointer_cast<ro::Synchronizer,loh::Synchronizer>(d_synchronizer);
}
boost::shared_ptr<rci::oncilla::L0>
HWOncillaBackend::CreateL0(rci::oncilla::Leg leg ,
const std::string& name){
loh::L0::Ptr node(new loh::L0(name));
loh::Synchronizer::RegistrationAccessor::RegisterL0(*d_synchronizer,
leg,
node);
return boost::static_pointer_cast<ro::L0,loh::L0>(node);
}
boost::shared_ptr<rci::oncilla::L1L2>
HWOncillaBackend::CreateL1(rci::oncilla::Leg leg ,
const std::string& name){
loh::L1L2::Ptr node(new loh::L1L2(*d_synchronizer, name));
loh::Synchronizer::RegistrationAccessor::RegisterL1(*d_synchronizer,
leg,
node);
return boost::static_pointer_cast<ro::L1L2,loh::L1L2>(node);
}
boost::shared_ptr<rci::oncilla::L1L2>
HWOncillaBackend::CreateL2(rci::oncilla::Leg leg ,
const std::string& name){
loh::L1L2::Ptr node(new loh::L1L2(*d_synchronizer, name));
loh::Synchronizer::RegistrationAccessor::RegisterL2(*d_synchronizer,
leg,
node);
return boost::static_pointer_cast<ro::L1L2,loh::L1L2>(node);
}
boost::shared_ptr<rci::oncilla::L3>
HWOncillaBackend::CreateL3(rci::oncilla::Leg leg ,
const std::string& name){
loh::L3::Ptr node(new loh::L3(name));
loh::Synchronizer::RegistrationAccessor::RegisterL3(*d_synchronizer,
leg,
node);
return boost::static_pointer_cast<ro::L3,loh::L3>(node);
}
boost::shared_ptr<rci::oncilla::Trunk> HWOncillaBackend::CreateTrunk(){
loh::Trunk::Ptr node(new loh::Trunk());
loh::Synchronizer::RegistrationAccessor::RegisterTrunk(*d_synchronizer,
node);
return boost::static_pointer_cast<ro::Trunk,loh::Trunk>(node);
}
boost::shared_ptr<rci::oncilla::SupervisorTrunk> HWOncillaBackend::CreateSupervisorTrunk(){
return ro::SupervisorTrunk::Ptr(new loh::SupervisorTrunk());
}
boost::shared_ptr<rci::oncilla::SupervisorWorld> HWOncillaBackend::CreateSupervisorWorld(){
return ro::SupervisorWorld::Ptr();
}
boost::shared_ptr<rci::oncilla::SupervisorL4> HWOncillaBackend::CreateSupervisorL4(
rci::oncilla::Leg , const std::string&){
return ro::SupervisorL4::Ptr();
}
bool HWOncillaBackend::IsLeftLeg(rci::oncilla::Leg l){
return (l == ro::LEFT_FORE || l == ro::LEFT_HIND);
}
bool HWOncillaBackend::IsForeLeg(rci::oncilla::Leg l){
return (l == ro::LEFT_FORE || l == ro::RIGHT_FORE);
}
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