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 JOINT_MOTION_HANDLER_H 00034 #define JOINT_MOTION_HANDLER_H 00035 00036 #include "motoPlus.h" 00037 #include "message_handler.h" 00038 #include "joint_message.h" 00039 #include "p_var_q.h" 00040 00041 namespace motoman 00042 { 00043 namespace joint_motion_handler 00044 { 00045 00049 //* MessageHandler 00050 00058 /* 00059 Motoplus Functional Specs: 00060 00061 Upon receiving... 00062 1st point - enable motion, start job, add point (increment buffer index), 00063 Nth point - add point (increment buffer index) 00064 end of trajectory - wait until buffer size = 0, disable motion, stop job, reset buffer indicies 00065 motion stop - disable motion, stop job 00066 00067 INFORM Functional Specs: 00068 00069 start job - reset buffer index 00070 non-empty buffer - execute motion, increment motion pointer 00071 empty buffer - do not execute any motion (wait for points) 00072 end of position variables (jump to beginning position) 00073 00074 TODO: WHAT TO DO IF THE END OF TRAJECTORY FLAG HAS BEEN RECEIVED AND 00075 THEN A MOTION CANCEL HAS BEEN RECEIVED. MIGHT WANT TO CONSIDER USING 00076 AN EXTRA VARIABLE ON THE CONTROLLER FOR THE INFORM JOB TO MONITOR 00077 */ 00078 00079 00080 class JointMotionHandler : public industrial::message_handler::MessageHandler 00081 { 00082 00083 public: 00084 00085 JointMotionHandler(void); 00086 ~JointMotionHandler(void); 00087 00095 bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection); 00096 00105 bool init(int msg_type, industrial::smpl_msg_connection::SmplMsgConnection* connection) 00106 { return MessageHandler::init(msg_type, connection);}; 00107 00108 00109 private: 00110 00111 00112 // Servo power variables 00113 MP_SERVO_POWER_SEND_DATA servo_power_data; 00114 MP_STD_RSP_DATA servo_power_error; 00115 00116 // Job variables 00117 MP_START_JOB_SEND_DATA job_start_data; 00118 MP_CUR_JOB_SEND_DATA job_reset_data; 00119 MP_STD_RSP_DATA job_reset_error; 00120 MP_STD_RSP_DATA job_error; 00121 00122 00123 // Hold variables 00124 MP_HOLD_SEND_DATA hold_data; 00125 MP_STD_RSP_DATA hold_error; 00126 00127 motoman::p_var_q::PVarQ pVarQ; 00128 00132 static const int MP_POLL_TICK_DELAY = 10; 00133 00137 static const int BUFFER_POLL_TICK_DELAY = 1000; 00138 00139 //TODO: motion and job flags are just internal state variables, we may 00140 //want to make them query the appropriate motoplus API calls instead. 00141 //This should just require rewriting the access functions below. 00145 bool motionEnabled; 00146 00150 bool jobStarted; 00151 00158 bool isMotionEnabled(void) {return motionEnabled;}; 00159 00166 bool isJobStarted(void) {return jobStarted;}; 00167 00175 bool internalCB(industrial::simple_message::SimpleMessage & in); 00176 00177 00184 void motionInterface(industrial::joint_message::JointMessage & jMsg); 00185 00186 00192 void enableMotion(void); 00193 00199 void disableMotion(void); 00200 00206 void startMotionJob(void); 00207 00212 void stopMotionJob(void); 00213 00214 }; 00215 00216 }//joint_motion_handler 00217 }//industrial 00218 00219 00220 #endif /* JOINT_MOTION_HANDLER_H */