Katana.h
Go to the documentation of this file.00001 /* 00002 * UOS-ROS packages - Robot Operating System code by the University of Osnabrück 00003 * Copyright (C) 2010 University of Osnabrück 00004 * 00005 * This program is free software; you can redistribute it and/or 00006 * modify it under the terms of the GNU General Public License 00007 * as published by the Free Software Foundation; either version 2 00008 * of the License, or (at your option) any later version. 00009 * 00010 * This program is distributed in the hope that it will be useful, 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00013 * GNU General Public License for more details. 00014 * 00015 * You should have received a copy of the GNU General Public License 00016 * along with this program; if not, write to the Free Software 00017 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. 00018 * 00019 * Katana.h 00020 * 00021 * Created on: 06.12.2010 00022 * Author: Martin Günther <mguenthe@uos.de> 00023 */ 00024 00025 #ifndef KATANA_H_ 00026 #define KATANA_H_ 00027 00028 #include <ros/ros.h> 00029 #include <std_srvs/Empty.h> 00030 #include <boost/thread/recursive_mutex.hpp> 00031 #include <boost/thread.hpp> 00032 00033 #include <kniBase.h> 00034 00035 #include <katana/SpecifiedTrajectory.h> 00036 #include <katana/AbstractKatana.h> 00037 #include <katana/KNIConverter.h> 00038 00039 namespace katana 00040 { 00041 00048 class Katana : public AbstractKatana 00049 { 00050 public: 00051 Katana(); 00052 virtual ~Katana(); 00053 00054 void refreshEncoders(); 00055 bool executeTrajectory(boost::shared_ptr<SpecifiedTrajectory> traj); 00056 virtual void freezeRobot(); 00057 virtual bool moveJoint(int jointIndex, double turningAngle); 00058 00059 virtual void refreshMotorStatus(); 00060 virtual bool someMotorCrashed(); 00061 virtual bool allJointsReady(); 00062 virtual bool allMotorsReady(); 00063 00064 virtual void setLimits(void); 00065 virtual void testSpeed(); 00066 00067 protected: 00068 boost::shared_ptr<CLMBase> kni; 00069 boost::recursive_mutex kni_mutex; 00070 std::vector<TMotStsFlg> motor_status_; 00071 00072 KNIConverter* converter; 00073 00074 private: 00075 ros::ServiceServer switch_motors_off_srv_; 00076 ros::ServiceServer switch_motors_on_srv_; 00077 ros::ServiceServer test_speed_srv_; 00078 00079 CCplSerialCRC* protocol; 00080 CCdlBase* device; 00081 00082 ros::Time last_encoder_update_; 00083 00084 void calibrate(); 00085 00086 bool switchMotorsOff(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response); 00087 bool switchMotorsOn(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response); 00088 bool testSpeedSrv(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response); 00089 00090 short round(const double x); 00091 }; 00092 00093 } 00094 00095 #endif /* KATANA_H_ */