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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 00033 #ifndef TRAJECTORY_DOWNLOAD_HANDLER_H 00034 #define TRAJECTORY_DOWNLOAD_HANDLER_H 00035 00036 #include "message_handler.h" 00037 #include "joint_traj.h" 00038 #include "joint_traj_pt_message.h" 00039 #include "controller.h" 00040 00041 namespace armadillo 00042 { 00043 namespace trajectory_download_handler 00044 { 00045 00046 00050 //TODO: Should be "class static const" not macro 00051 #define JOB_NAME "ROS_I_TRAJ.JBI" 00052 00056 //TODO: Should be "class static const" not macro 00057 #define JOB_BUFFER_SIZE_ 5000 00058 00059 00064 //* TrajectoryDownloadHandler 00070 class TrajectoryDownloadHandler : public industrial::message_handler::MessageHandler 00071 { 00072 00073 public: 00082 bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection, 00083 motoman::controller::Controller* ctrl); 00084 00085 protected: 00086 00087 00096 bool init(int msg_type, industrial::smpl_msg_connection::SmplMsgConnection* connection) 00097 { return MessageHandler::init(msg_type, connection);}; 00098 00106 bool internalCB(industrial::simple_message::SimpleMessage & in); 00107 00115 void startTrajectory(industrial::joint_traj_pt_message::JointTrajPtMessage & jMsg); 00116 00124 void endTrajectory(industrial::joint_traj_pt_message::JointTrajPtMessage & jMsg); 00125 00126 00130 motoman::controller::Controller* ctrl_; 00131 00135 industrial::joint_traj::JointTraj traj_; 00136 00140 char jobBuffer_[JOB_BUFFER_SIZE_]; 00141 00142 }; 00143 00144 00145 00146 }//trajectory_download_handler 00147 }//motoman 00148 00149 00150 #endif // TRAJECTORY_DOWNLOAD_HANDLER_H