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HWOncillaBackend.h
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Sun, Jun 9, 00:48

HWOncillaBackend.h
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#pragma once
#include <liboncilla/utils/OncillaBackend.h>
#include <liboncilla-hw/config/Config.h>
#include <liboncilla-hw/synchronization/Synchronizer.h>
/**
* Liboncilla backend for the Oncilla hardware, providing all resource node
* implementations connected to the hardware drivers.
*/
class HWOncillaBackend : public OncillaBackend {
public:
HWOncillaBackend();
virtual ~HWOncillaBackend();
virtual boost::shared_ptr<rci::oncilla::Synchronizer> CreateSynchronizer();
virtual boost::shared_ptr<rci::oncilla::L0> CreateL0(rci::oncilla::Leg ,
const std::string&);
virtual boost::shared_ptr<rci::oncilla::L1L2> CreateL1(rci::oncilla::Leg ,
const std::string&);
virtual boost::shared_ptr<rci::oncilla::L1L2> CreateL2(rci::oncilla::Leg ,
const std::string &);
virtual boost::shared_ptr<rci::oncilla::L3> CreateL3(rci::oncilla::Leg ,
const std::string &);
virtual boost::shared_ptr<rci::oncilla::Trunk> CreateTrunk();
virtual boost::shared_ptr<rci::oncilla::SupervisorTrunk> CreateSupervisorTrunk();
virtual boost::shared_ptr<rci::oncilla::SupervisorWorld> CreateSupervisorWorld();
virtual boost::shared_ptr<rci::oncilla::SupervisorL4> CreateSupervisorL4(
rci::oncilla::Leg , const std::string&);
private:
static const bool NORMALIZED = true;
static const bool NOT_NORMALIZED = false;
static const bool REVERSED = true;
static const bool NOT_REVERSED = false;
static const unsigned int HW_RANGE_L1_FORE = 1138; // TODO: CHECK
static const unsigned int HW_RANGE_L1_HIND = 1138; // TODO: CHECK
static const unsigned int HW_RANGE_L2_FORE = 1850; // TODO: CHECK
static const unsigned int HW_RANGE_L2_HIND = 2200; // TODO: CHECK
static const double ENCODER_RATIO_L1 = 25.0/12.0; // TODO: CHECK
static const double ENCODER_RATIO_L2 = 1.0; // TODO: CHECK
static const double ENCODER_RATIO_L3 = 1.0; // TODO: CHECK
static const std::string & LegPrefix(rci::oncilla::Leg l);
static const char * L1_POSITION_SUFFIX;
static const char * L2_POSITION_SUFFIX;
static const char * ME1_SUFFIX;
static const char * ME2_SUFFIX;
static const char * ME3_SUFFIX;
void LockMemory();
bool IsLeftLeg(rci::oncilla::Leg);
bool IsForeLeg(rci::oncilla::Leg);
liboncilla::hw::Synchronizer::Ptr d_synchronizer;
liboncilla::hw::Config d_config;
};

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