#include <mtconnect_cnc_robot_example/state_machine/state_machine.h>
#include <ros/topic.h>

Include dependency graph for state_machine.cpp:

Variables
static const std::string	CNC_ACTION_ACTIVE_FLAG = "ACTIVE"
static const std::string	DEFAULT_CNC_CLOSE_CHUCK_ACTION = "cnc_close_chuck_action"
static const std::string	DEFAULT_CNC_CLOSE_DOOR_ACTION = "cnc_close_door_action"
static const std::string	DEFAULT_CNC_OPEN_CHUCK_ACTION = "cnc_open_chuck_action"
static const std::string	DEFAULT_CNC_OPEN_DOOR_ACTION = "cnc_open_door_action"
static const std::string	DEFAULT_EXTERNAL_COMMAND_SERVICE = "external_command"
static const std::string	DEFAULT_GRASP_ACTION = "grasp_action_service"
static const double	DEFAULT_JOINT_ERROR_TOLERANCE = 0.01f
static const std::string	DEFAULT_JOINT_STATE_TOPIC = "joint_states"
static const std::string	DEFAULT_JOINT_TRAJ_ACTION = "joint_trajectory_action"
static const std::string	DEFAULT_MATERIAL_LOAD_ACTION = "material_load_action"
static const std::string	DEFAULT_MATERIAL_LOAD_SET_STATE_SERVICE = "/MaterialLoad/set_mtconnect_state"
static const std::string	DEFAULT_MATERIAL_UNLOAD_ACTION = "material_unload_action"
static const std::string	DEFAULT_MATERIAL_UNLOAD_SET_STATE_SERVICE = "/MaterialUnload/set_mtconnect_state"
static const std::string	DEFAULT_MOVE_ARM_ACTION = "move_arm_action"
static const std::string	DEFAULT_PATH_PLANNER = "/ompl_planning/plan_kinematic_path"
static const int	DEFAULT_PATH_PLANNING_ATTEMPTS = 2
static const std::string	DEFAULT_PICKUP_ACTION = "pickup_action_service"
static const std::string	DEFAULT_PLACE_ACTION = "place_action_service"
static const std::string	DEFAULT_ROBOT_SPINDLE_TOPIC = "robot_spindle"
static const std::string	DEFAULT_ROBOT_STATES_TOPIC = "robot_states"
static const std::string	DEFAULT_ROBOT_STATUS_TOPIC = "robot_status"
static const std::string	DEFAULT_TRAJECTORY_FILTER_SERVICE = "filter_trajectory_with_constraints"
static const std::string	DEFAULT_VISE_ACTION = "vise_action_service"
static const double	DURATION_JOINT_MESSAGE_TIMEOUT = 10.0f
static const double	DURATION_LOOP_PAUSE = 0.5f
static const double	DURATION_PATH_COMPLETION = 2.0f
static const double	DURATION_PLANNING_TIME = 5.0f
static const double	DURATION_TIMER_INTERVAL = 4.0f
static const double	DURATION_WAIT_RESULT = 40.0f
static const double	DURATION_WAIT_SERVER = 2.0f
static const std::string	PARAM_ARM_GROUP = "arm_group"
static const std::string	PARAM_FORCE_CNC_FAULT = "force_cnc_fault"
static const std::string	PARAM_FORCE_FAULT_ON_TASK = "force_fault_on_task"
static const std::string	PARAM_FORCE_GRIPPER_FAULT = "force_gripper_fault"
static const std::string	PARAM_FORCE_ROBOT_FAULT = "force_robot_fault"
static const std::string	PARAM_JOINT_HOME_POSITION = "joint_home_position"
static const std::string	PARAM_JOINT_WAIT_POSITION = "joint_wait_position"
static const std::string	PARAM_LOAD_PICKUP_GOAL = "load_pickup_goal"
static const std::string	PARAM_LOAD_PLACE_GOAL = "load_place_goal"
static const std::string	PARAM_TASK_DESCRIPTION = "task_description"
static const std::string	PARAM_TRAJ_APPROACH_CNC = "traj_approach_cnc"
static const std::string	PARAM_TRAJ_ARBITRARY_MOVE = "traj_arbitrary"
static const std::string	PARAM_TRAJ_ENTER_CNC = "traj_enter_cnc"
static const std::string	PARAM_TRAJ_EXIT_CNC = "traj_exit_cnc"
static const std::string	PARAM_TRAJ_MOVE_TO_CHUCK = "traj_move_to_chuck"
static const std::string	PARAM_TRAJ_RETREAT_FROM_CHUCK = "traj_retreat_from_chuck"
static const std::string	PARAM_UNLOAD_PICKUP_GOAL = "unload_pickup_goal"
static const std::string	PARAM_UNLOAD_PLACE_GOAL = "unload_place_goal"
static const std::string	PARAM_USE_TASK_MOTION = "use_task_motion"

Variable Documentation

const std::string CNC_ACTION_ACTIVE_FLAG = "ACTIVE" [static]

Definition at line 62 of file state_machine.cpp.

const std::string DEFAULT_CNC_CLOSE_CHUCK_ACTION = "cnc_close_chuck_action" [static]

Definition at line 51 of file state_machine.cpp.

const std::string DEFAULT_CNC_CLOSE_DOOR_ACTION = "cnc_close_door_action" [static]

Definition at line 49 of file state_machine.cpp.

const std::string DEFAULT_CNC_OPEN_CHUCK_ACTION = "cnc_open_chuck_action" [static]

Definition at line 50 of file state_machine.cpp.

const std::string DEFAULT_CNC_OPEN_DOOR_ACTION = "cnc_open_door_action" [static]

Definition at line 48 of file state_machine.cpp.

const std::string DEFAULT_EXTERNAL_COMMAND_SERVICE = "external_command" [static]

Definition at line 57 of file state_machine.cpp.

const std::string DEFAULT_GRASP_ACTION = "grasp_action_service" [static]

Definition at line 44 of file state_machine.cpp.

const double DEFAULT_JOINT_ERROR_TOLERANCE = 0.01f [static]

Definition at line 63 of file state_machine.cpp.

const std::string DEFAULT_JOINT_STATE_TOPIC = "joint_states" [static]

Definition at line 56 of file state_machine.cpp.

const std::string DEFAULT_JOINT_TRAJ_ACTION = "joint_trajectory_action" [static]

Definition at line 52 of file state_machine.cpp.

const std::string DEFAULT_MATERIAL_LOAD_ACTION = "material_load_action" [static]

Definition at line 46 of file state_machine.cpp.

const std::string DEFAULT_MATERIAL_LOAD_SET_STATE_SERVICE = "/MaterialLoad/set_mtconnect_state" [static]

Definition at line 58 of file state_machine.cpp.

const std::string DEFAULT_MATERIAL_UNLOAD_ACTION = "material_unload_action" [static]

Definition at line 47 of file state_machine.cpp.

const std::string DEFAULT_MATERIAL_UNLOAD_SET_STATE_SERVICE = "/MaterialUnload/set_mtconnect_state" [static]

Definition at line 59 of file state_machine.cpp.

const std::string DEFAULT_MOVE_ARM_ACTION = "move_arm_action" [static]

Definition at line 41 of file state_machine.cpp.

const std::string DEFAULT_PATH_PLANNER = "/ompl_planning/plan_kinematic_path" [static]

Definition at line 65 of file state_machine.cpp.

const int DEFAULT_PATH_PLANNING_ATTEMPTS = 2 [static]

Definition at line 64 of file state_machine.cpp.

const std::string DEFAULT_PICKUP_ACTION = "pickup_action_service" [static]

Definition at line 42 of file state_machine.cpp.

const std::string DEFAULT_PLACE_ACTION = "place_action_service" [static]

Definition at line 43 of file state_machine.cpp.

const std::string DEFAULT_ROBOT_SPINDLE_TOPIC = "robot_spindle" [static]

Definition at line 54 of file state_machine.cpp.

const std::string DEFAULT_ROBOT_STATES_TOPIC = "robot_states" [static]

Definition at line 53 of file state_machine.cpp.

const std::string DEFAULT_ROBOT_STATUS_TOPIC = "robot_status" [static]

Definition at line 55 of file state_machine.cpp.

const std::string DEFAULT_TRAJECTORY_FILTER_SERVICE = "filter_trajectory_with_constraints" [static]

Definition at line 60 of file state_machine.cpp.

const std::string DEFAULT_VISE_ACTION = "vise_action_service" [static]

Definition at line 45 of file state_machine.cpp.

const double DURATION_JOINT_MESSAGE_TIMEOUT = 10.0f [static]

Definition at line 72 of file state_machine.cpp.

const double DURATION_LOOP_PAUSE = 0.5f [static]

Definition at line 66 of file state_machine.cpp.

const double DURATION_PATH_COMPLETION = 2.0f [static]

Definition at line 71 of file state_machine.cpp.

const double DURATION_PLANNING_TIME = 5.0f [static]

Definition at line 69 of file state_machine.cpp.

const double DURATION_TIMER_INTERVAL = 4.0f [static]

Definition at line 67 of file state_machine.cpp.

const double DURATION_WAIT_RESULT = 40.0f [static]

Definition at line 70 of file state_machine.cpp.

const double DURATION_WAIT_SERVER = 2.0f [static]

Definition at line 68 of file state_machine.cpp.

const std::string PARAM_ARM_GROUP = "arm_group" [static]

Definition at line 20 of file state_machine.cpp.

const std::string PARAM_FORCE_CNC_FAULT = "force_cnc_fault" [static]

Definition at line 34 of file state_machine.cpp.

const std::string PARAM_FORCE_FAULT_ON_TASK = "force_fault_on_task" [static]

Definition at line 36 of file state_machine.cpp.

const std::string PARAM_FORCE_GRIPPER_FAULT = "force_gripper_fault" [static]

Definition at line 35 of file state_machine.cpp.

const std::string PARAM_FORCE_ROBOT_FAULT = "force_robot_fault" [static]

Definition at line 33 of file state_machine.cpp.

const std::string PARAM_JOINT_HOME_POSITION = "joint_home_position" [static]

Definition at line 25 of file state_machine.cpp.

const std::string PARAM_JOINT_WAIT_POSITION = "joint_wait_position" [static]

Definition at line 26 of file state_machine.cpp.

const std::string PARAM_LOAD_PICKUP_GOAL = "load_pickup_goal" [static]

Definition at line 23 of file state_machine.cpp.

const std::string PARAM_LOAD_PLACE_GOAL = "load_place_goal" [static]

Definition at line 24 of file state_machine.cpp.

const std::string PARAM_TASK_DESCRIPTION = "task_description" [static]

Definition at line 37 of file state_machine.cpp.

const std::string PARAM_TRAJ_APPROACH_CNC = "traj_approach_cnc" [static]

Definition at line 28 of file state_machine.cpp.

const std::string PARAM_TRAJ_ARBITRARY_MOVE = "traj_arbitrary" [static]

Definition at line 27 of file state_machine.cpp.

const std::string PARAM_TRAJ_ENTER_CNC = "traj_enter_cnc" [static]

Definition at line 29 of file state_machine.cpp.

const std::string PARAM_TRAJ_EXIT_CNC = "traj_exit_cnc" [static]

Definition at line 32 of file state_machine.cpp.

const std::string PARAM_TRAJ_MOVE_TO_CHUCK = "traj_move_to_chuck" [static]

Definition at line 30 of file state_machine.cpp.

const std::string PARAM_TRAJ_RETREAT_FROM_CHUCK = "traj_retreat_from_chuck" [static]

Definition at line 31 of file state_machine.cpp.

const std::string PARAM_UNLOAD_PICKUP_GOAL = "unload_pickup_goal" [static]

Definition at line 21 of file state_machine.cpp.

const std::string PARAM_UNLOAD_PLACE_GOAL = "unload_place_goal" [static]

Definition at line 22 of file state_machine.cpp.

const std::string PARAM_USE_TASK_MOTION = "use_task_motion" [static]

Definition at line 38 of file state_machine.cpp.

Variables

Variable Documentation