world.h

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// 
// DISCLAIMER: 
//  This software was produced by the National Institute of Standards 
//  and Technology (NIST), an agency of the U.S. government, and by statute is 
//  not subject to copyright in the United States.  Recipients of this 
//  software assume all responsibility associated with its operation,
//  modification,maintenance, and subsequent redistribution. 
//
//  See NIST Administration Manual 4.09.07 b and Appendix I. 

/* world.h

  This is a semi-dummy file. It defines data members and methods for
  a world modeler that keeps track of the state of a system executing
  I++ DME Interface functions. Main in parser.cc calls some of the world's
  methods.

*/

#ifndef WORLD_HH
#define WORLD_HH

#include "ippdme/ippToolChanger.h"
#include "ippdme/Command/ippCommand.h"
#include "ippdme/Command/ippOnScanReportCommand.h"
#include "ippdme/Command/ippOnPtMeasReportCommand.h"
#include "ippdme/ippCsyTransform.h"
#include "ippdme/ippCoordSysType.h"
#include "ippdme/Property/ippOnePropertyAlignment.h"
#include "ippdme/ippMachineClassType.h"
#include "ippdme/ippDaemon.h"


class ippAlignToolCommand;
class ippAlignToolCommand;
class ippChangeToolCommand;
class ippLockAxisCommand;
class ippOnMoveReportECommand;
class ippOnPtMeasReportCommand;
class ippOnScanReportCommand;
class ippPtMeasCommand;
class ippScanInCylEndIsPlaneCommand;
class ippScanInCylEndIsSphereCommand;
class ippScanInPlaneEndIsCylCommand;
class ippScanInPlaneEndIsPlaneCommand;
class ippScanInPlaneEndIsSphereCommand;
class ippScanOnCircleCommand;
class ippScanOnLineCommand;
class ippSetCoordSystemCommand;
class ippSetCsyTransformationCommand;
class ippSetPropCommand;
class ippOnePropertyAlignment;


/* goness

It may be desirable to have more (add "unready" which would be the
setting when the system starts up) or fewer (combine "erred" and
"aborted", in which case a boolean would do) choices for goness.

*/

typedef enum goness {ready, moving, erred, aborted};



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

/* world

The onMoveTagNumber is:
1. 0 at the beginning of a session
2. 0 if StopAllDaemons has been executed since the last OnMoveReportE
   command was executed.
3. 0 if StopDaemons has been executed using the tag of the last
   OnMoveReportE command that was executed.
4. 0 if the last OnMoveReportE command that was executed had no
   arguments.
5. The tag number of the last OnMoveReportE command with arguments
   that was executed successfully, otherwise.

The onScanTagNumber follows similar rules with regard to the last
OnScanReport command.

*/

class IPPDME_EXT_CLASS world
{
private:

  ippCoordSysType _Csy; /* current Csy */
  ippCsyTransform _csyJogDisplay;
  ippCsyTransform _csyJogMove;
  ippCsyTransform _csyMoveable;
  ippCsyTransform _csyMultiple;
  ippCsyTransform _csyPart;
  ippCsyTransform _csySensor;

  double _currentR;    
             
  double _currentX;    
  double _currentY;    
  double _currentZ;    

  double _currentQ ;   
  int    _IJKAct;
  double _currentContactI;
  double _currentContactJ;
  double _currentContactK;

  double _homeX;       
  double _homeY;       
  double _homeZ;       
  bool _isHomed;       
  double _limitLowerX; 
  double _limitLowerY; 
  double _limitLowerZ; 
  double _limitUpperX; 
  double _limitUpperY; 
  double _limitUpperZ; 
  bool _lockedC;       
  bool _lockedPhi;     
  bool _lockedR;       
  bool _lockedX;       
  bool _lockedY;       
  bool _lockedZ;       
  ippMachineClassType _machineClass; 
  double _measuredX1;  
  double _measuredY1;  
  double _measuredZ1;  
  double _measuredX2;  
  double _measuredY2;  
  double _measuredZ2;  
  double _measuredX3;  
  double _measuredY3;  
  double _measuredZ3;  
  
  std::map<int,ippDaemonConstPtr> _daemons;
  ippOnScanReportCommandPtr _OnScanReportCmd;
  ippOnPtMeasReportCommandPtr _OnPtMeasReportCmd;

  
  bool _outOfRangeFlag;
  unsigned int _pointTag; /* tag of PtMeas or Scan for measured X, Y, Z */
  goness _readiness;
  ippToolChangerPtr _toolCollection;
  bool _userEnabled;

  void updateAlignTool(const ippAlignToolCommand * theAlignTool);
  void updateChangeTool(const ippChangeToolCommand * theChangeTool);
  void updateEndSession();
  void updateHome();
  void updateLockAxis(const ippLockAxisCommand * theLockAxis);
  void updateOnMoveReportE(const ippOnMoveReportECommand * theOnMove);
  void updateOnPtMeasReport(const ippOnPtMeasReportCommand * theOnPtMeas);
  void updateOnScanReport(const ippOnScanReportCommand * theOnScan);
  void updatePtMeas(const ippPtMeasCommand * thePtMeas);
  void updateScanInCylEndIsPlane(const ippScanInCylEndIsPlaneCommand * theScan);
  void updateScanInCylEndIsSphere(const ippScanInCylEndIsSphereCommand * theScan);
  void updateScanInPlaneEndIsCyl(const ippScanInPlaneEndIsCylCommand * theScan);
  void updateScanInPlaneEndIsPlane(const ippScanInPlaneEndIsPlaneCommand * theScan);
  void updateScanInPlaneEndIsSphere(const ippScanInPlaneEndIsSphereCommand * theScan);
  void updateScanOnCircle(const ippScanOnCircleCommand * theScan);
  void updateScanOnLine(const ippScanOnLineCommand * theScan);
  void updateSetCoordSystem(const ippSetCoordSystemCommand * theSet);
  void updateSetCsyTransformation(const ippSetCsyTransformationCommand * theSet);
  void updateSetProp(const ippSetPropCommand * theSet);
  void updateStartSession();
public:
  world();
  virtual ~world();

  void setMachineClass(ippMachineClassType type ){ _machineClass = type; }

  void setIsHomed(bool inIsHomed) { _isHomed = inIsHomed; }
  void setReadiness(goness inReadiness){ _readiness = inReadiness; }

  ippOnePropertyAlignmentPtr getCurrentAlignment() ;
  ippCoordSysType   getCurrentCsy() const        { return _Csy;               }
  double         getCurrentR()const              { return _currentR;          }
  double         getCurrentToolA()const          { return _toolCollection->getActiveTool()->getAngleA();}
  double         getCurrentToolB()const          { return _toolCollection->getActiveTool()->getAngleB();}
  double         getCurrentToolC()const          { return _toolCollection->getActiveTool()->getAngleC();}
  double         getProbeRadius()const           { return _toolCollection->getActiveTool()->getRadius(); }
  double         getCurrentX() const             { return _currentX;          }
  double         getCurrentY() const             { return _currentY;          }
  double         getCurrentZ() const             { return _currentZ;          }
  double         getCurrentQ() const             { return _currentQ;  }
  int            getIJKAct() const               { return _IJKAct;  }
  bool           getIsHomed() const              { return _isHomed;           }
  double         getLimitLowerX() const          { return _limitLowerX;       }
  double         getLimitLowerY()const           { return _limitLowerY;       }
  double         getLimitLowerZ()const           { return _limitLowerZ;       }
  double         getLimitUpperX()const           { return _limitUpperX;       }
  double         getLimitUpperY()const           { return _limitUpperY;       }
  double         getLimitUpperZ()const           { return _limitUpperZ;       }
  ippCsyTransform * getJogDisplayCsyTransform()  { return &_csyJogDisplay;    }
  ippCsyTransform * getJogMoveCsyTransform()     { return &_csyJogMove;       }
  ippMachineClassType    getMachineClass() const   { return _machineClass;      }
  double         getMeasuredX1()const            { return _measuredX1;        }
  double         getMeasuredY1()const            { return _measuredY1;        }
  double         getMeasuredZ1()const            { return _measuredZ1;        }
  double         getMeasuredX2()const            { return _measuredX2;        }
  double         getMeasuredY2()const            { return _measuredY2;        }
  double         getMeasuredZ2()const            { return _measuredZ2;        }
  double         getMeasuredX3()const            { return _measuredX3;        }
  double         getMeasuredY3()const            { return _measuredY3;        }
  double         getMeasuredZ3()const            { return _measuredZ3;        }
  ippCsyTransform * getMoveableCsyTransform()    { return &_csyMoveable;      }
  ippCsyTransform * getMultipleCsyTransform()    { return &_csyMultiple;      }

  
  ippOnScanReportCommandConstPtr getOnScanReportCommand() const;
  ippOnPtMeasReportCommandConstPtr getOnPtMeasReportCommand() const;


  bool           getOutOfRangeFlag()const        { return _outOfRangeFlag;    }
  ippCsyTransform * getPartCsyTransform()        { return &_csyPart;          }
  goness         getReadiness()const             { return _readiness;         }
  ippCsyTransform * getSensorCsyTransform()      { return &_csySensor;        }
  ippToolChangerPtr  getTools()                  { return _toolCollection;   }
  bool           getUserEnabled()const           { return _userEnabled;       }

  
  // returns true if the x,y,z point is in the working volume of the cmm
  bool inWorkVolume(double x, double y, double z) const;

  // ---- daemons commands
  void stopAllDaemons();
  bool daemonExists(int tag) const;
  int  daemonCount() const;
  void addDaemon(const ippOnMoveReportECommand *);
  void stopDaemon(int tag);
  ippDaemonConstPtr getDaemon() const;

  
  void putCurrentXYZ(double x, double y, double z)
    {
      _currentX = x;
      _currentY = y;
      _currentZ = z;
    }
  
  void putCurrentContactIJK(double i, double j, double k)
    {
      _currentContactI = i;
      _currentContactJ = j;
      _currentContactK = k;
    }
  void putCurrentQ(double quality_factor);

  void setMeasuredX1(double inX1){ _measuredX1 = inX1; }
  void setMeasuredY1(double inY1){ _measuredY1 = inY1; }
  void setMeasuredZ1(double inZ1){ _measuredZ1 = inZ1; }
  void setMeasuredX2(double inX2){ _measuredX2 = inX2; }
  void setMeasuredY2(double inY2){ _measuredY2 = inY2; }
  void setMeasuredZ2(double inZ2){ _measuredZ2 = inZ2; }
  void setMeasuredX3(double inX3){ _measuredX3 = inX3; }
  void setMeasuredY3(double inY3){ _measuredY3 = inY3; }
  void setMeasuredZ3(double inZ3){ _measuredZ3 = inZ3; }  
  void update(ippCommandConstPtr aCommand);

};

#endif /* #ifndef WORLD_HH */

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