#include <FRIComm.hh>

Public Member Functions
void	close ()
	closes the UDP connection
RobotCommand	cmd ()
void	configureNetwork (int local_port, std::string remote_address, int remote_port)
	set network parameters
RobotData	data ()
	FRIComm ()
FRICheck *	limitChecker ()
bool	open ()
	opens the UDP connection
bool	postCommand (int iData[16], float rData[16])
bool	receive ()
	receives a UDP measurement packet.
void	respond ()
	sends the response packet.
bool	runstop ()
void	setCmd (RobotCommand cmd)
void	setRunstop (bool stopped)
RobotStatus	status ()
	~FRIComm ()
Static Public Member Functions
static const char *	printStatus (char *buffer, RobotData data, RobotCommand cmd, RobotStatus status)
Public Attributes
tFriCmdData	fri_cmd_
tFriMsrData	fri_msr_
Private Member Functions
void	processCommand ()
	processes running command requests from postCommand() ( called from respond() )
void	stateHandler ()
	watches the current robot state and posts commands if necessary
void	tick ()
void	tock ()
Private Attributes
CartesianImpedanceControl *	cartesianImpedance_
CartesianImpedance	cartesianImpedanceCmd_
bool	closing_
int	duration_max
int	duration_max_published
int	duration_mean_published
int	duration_num
long long	duration_sum
float	krl_time_
struct timeval	last_tick
int	local_port_
struct sockaddr_in	remote_addr_
std::string	remote_address_
int	remote_port_
bool	runstop_
FRICheck *	safety2_
FRICheck *	safety_
unsigned int	seq_
int	socket_
bool	useCartesianImpedance_
Static Private Attributes
static const float	KRL_GUARD_TIME = 0.8
static const float	KRL_TIMEOUT = 4.5

Detailed Description

Definition at line 60 of file FRIComm.hh.

Constructor & Destructor Documentation

FRIComm::FRIComm ( )

Definition at line 93 of file FRIComm.cc.

FRIComm::~FRIComm ( )

Definition at line 127 of file FRIComm.cc.

Member Function Documentation

void FRIComm::close ( )

closes the UDP connection

When the connection is in command mode, it switches to monitor mode and keeps the read() / respond() loop running until that switch has happened.

It is your resonsibility to decelerate the arm before closing!

Definition at line 177 of file FRIComm.cc.

RobotCommand FRIComm::cmd ( )

Definition at line 485 of file FRIComm.cc.

void FRIComm::configureNetwork	(	int	local_port,
		std::string	remote_address,
		int	remote_port
	)

set network parameters

Definition at line 120 of file FRIComm.cc.

RobotData FRIComm::data ( )

Definition at line 463 of file FRIComm.cc.

FRICheck* FRIComm::limitChecker ( ) [inline]

Definition at line 72 of file FRIComm.hh.

bool FRIComm::open ( )

opens the UDP connection

Definition at line 135 of file FRIComm.cc.

bool FRIComm::postCommand	(	int	iData[16],
		float	rData[16]
	)

Definition at line 363 of file FRIComm.cc.

const char * FRIComm::printStatus	(	char *	buffer,
		RobotData	data,
		RobotCommand	cmd,
		RobotStatus	status
	)		`[static]`

Definition at line 425 of file FRIComm.cc.

void FRIComm::processCommand ( ) [private]

processes running command requests from postCommand() ( called from respond() )

Definition at line 379 of file FRIComm.cc.

bool FRIComm::receive ( )

receives a UDP measurement packet.

Waits up to 0.1s for new data.

Returns:: true if a valid packet was received

Definition at line 237 of file FRIComm.cc.

void FRIComm::respond ( )

sends the response packet.

The position increment is limited before sending so as to not exceed velocity, acceleration and joint angle limits. This commanded position is rememered and used for subsequent calls to setCmd().

Definition at line 271 of file FRIComm.cc.

bool FRIComm::runstop ( )

Definition at line 451 of file FRIComm.cc.

void FRIComm::setCmd ( RobotCommand cmd )

Definition at line 504 of file FRIComm.cc.

void FRIComm::setRunstop ( bool stopped )

Definition at line 457 of file FRIComm.cc.

void FRIComm::stateHandler ( ) [private]

watches the current robot state and posts commands if necessary

Called from respond.

Definition at line 407 of file FRIComm.cc.

RobotStatus FRIComm::status ( )