humotion

#pragma once

#include <humotion/server/joint_interface.h>

#include <boost/bimap.hpp>

#include <yarp/dev/PolyDriver.h>

#include <yarp/dev/IControlMode.h>

#include <yarp/dev/IControlLimits2.h>

#include <yarp/dev/ControlBoardInterfaces.h>

#include <yarp/os/Time.h>

#include <yarp/sig/Vector.h>

#include "icub_jointinterface.h"

#include <humotion/server/server.h>

#include <yarp/os/Network.h>

#include <yarp/os/RateThread.h>

#include <yarp/os/Time.h>

#include <yarp/os/Property.h>

#include <yarp/os/Port.h>

#include <yarp/dev/ControlBoardInterfaces.h>

#include "icub_data_receiver.h"

class iCubDataReceiver;

class iCubFaceInterface;

class iCubJointInterface : public humotion::server::JointInterface{

public:

    iCubJointInterface(std::string scope);

    ~iCubJointInterface();

    void store_incoming_position(int id, double value, double timestamp);

    void run();

    int convert_icub_jointid_to_humotion(int id);

    int convert_humotion_jointid_to_icub(int id);

    enum JOINT_ID_ENUM{

        ICUB_ID_NECK_TILT = 0,

        ICUB_ID_NECK_ROLL = 1,

        ICUB_ID_NECK_PAN  = 2,

        ICUB_ID_EYES_BOTH_UD = 3,

        ICUB_ID_EYES_PAN = 4,

        ICUB_ID_EYES_VERGENCE = 5,

        ICUB_ID_EYES_LEFT_LID_LOWER,

        ICUB_ID_EYES_LEFT_LID_UPPER,

        ICUB_ID_EYES_RIGHT_LID_LOWER,

        ICUB_ID_EYES_RIGHT_LID_UPPER,

        ICUB_ID_EYES_LEFT_BROW,

        ICUB_ID_EYES_RIGHT_BROW,

        ICUB_ID_LIP_LEFT_UPPER,

        ICUB_ID_LIP_LEFT_LOWER,

        ICUB_ID_LIP_CENTER_UPPER,

        ICUB_ID_LIP_CENTER_LOWER,

        ICUB_ID_LIP_RIGHT_UPPER,

        ICUB_ID_LIP_RIGHT_LOWER,

        ICUB_JOINT_ID_ENUM_SIZE

    };

    yarp::dev::PolyDriver *get_yarp_polydriver() { return &yarp_polydriver_; }

    static const int MAIN_LOOP_FREQUENCY = 50;

protected:

    void disable_joint(int e);

    void publish_target(int e, float position, float velocity);

    void enable_joint(int e);

    void execute_motion();

private:

    yarp::dev::PolyDriver yarp_polydriver_;

    std::vector<double> pv_mix_last_error_;

    std::vector<double> pv_mix_pid_p_;

    std::vector<double> pv_mix_pid_d_;

    // yarp views

    yarp::dev::IVelocityControl *yarp_ivel_;

    yarp::dev::IPositionControl *yarp_ipos_;

    //yarp::dev::IEncodersTimed *yarp_iencs_;

    yarp::dev::IControlLimits *yarp_ilimits_;

    yarp::dev::IAmplifierControl *yarp_amp_;

    yarp::dev::IPidControl *yarp_pid_;

    yarp::dev::IControlMode *yarp_icontrol_;

    yarp::sig::Vector yarp_commands_;

    float target_angle_[ICUB_JOINT_ID_ENUM_SIZE];

    float target_velocity_[ICUB_JOINT_ID_ENUM_SIZE];

    void init_controller();

    void init_id_map();

    void init_pv_mix_pid();

    void insert_icupid_to_humotionid_mapping(int icubid, int humotionid);

    void store_icub_joint_target(int icub_id, float position, float velocity);

    //*******************************************

    void set_joint_enable_state(int e, bool enabled);

    //double target_angle[ICUB_JOINT_ID_ENUM_SIZE];

    //double target_angle_previous[ICUB_JOINT_ID_ENUM_SIZE];

    iCubDataReceiver *icub_data_receiver;

    void init_joints();

    std::string scope;

    yarp::sig::Vector positions;

    yarp::sig::Vector velocities;

    void store_min_max(yarp::dev::IControlLimits *ilimits, int id, int e);

    float last_pos_eye_vergence;

    float last_pos_eye_pan;

    float last_vel_eye_vergence;

    float last_vel_eye_pan;

    void store_joint(int id, float value);

    void set_target_in_positionmode(int id);

    void set_target_in_velocitymode(int id);

    int convert_enum_to_motorid(int e);

    int convert_motorid_to_enum(int id);

    iCubFaceInterface *face_interface_;

    typedef boost::bimap<int, int > enum_id_bimap_t;

    typedef enum_id_bimap_t::value_type enum_id_bimap_entry_t;

    enum_id_bimap_t enum_id_bimap;

};