motoman_motion_ctrl.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2013, 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
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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
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00030  */
00031 
00032 #ifndef MOTOMAN_MOTION_CTRL_H
00033 #define MOTOMAN_MOTION_CTRL_H
00034 
00035 #ifdef ROS
00036 #include "simple_message/simple_serialize.h"
00037 #include "simple_message/shared_types.h"
00038 #include "simple_message/log_wrapper.h"
00039 #endif
00040 
00041 #ifdef MOTOPLUS
00042 #include "simple_serialize.h"
00043 #include "shared_types.h"
00044 #include "log_wrapper.h"
00045 #endif
00046 
00047 namespace motoman
00048 {
00049 namespace simple_message
00050 {
00051 namespace motion_ctrl
00052 {
00053 
00057 namespace MotionControlCmds
00058 {
00059   enum MotionControlCmd
00060   {
00061     UNDEFINED          = 0,
00062     CHECK_MOTION_READY = 200101,  // check if controller is ready to receive ROS motion cmds
00063     CHECK_QUEUE_CNT    = 200102,  // get number of motion increments in queue
00064     STOP_MOTION        = 200111,  // stop robot motion immediately
00065     START_TRAJ_MODE    = 200121,  // prepare controller to receive ROS motion cmds
00066     STOP_TRAJ_MODE     = 200122,  // return motion control to INFORM
00067   };
00068 }
00069 typedef MotionControlCmds::MotionControlCmd MotionControlCmd;
00070 
00092 class MotionCtrl : public industrial::simple_serialize::SimpleSerialize
00093 {
00094 public:
00101   MotionCtrl(void);
00106   ~MotionCtrl(void);
00107 
00112   void init();
00113 
00118   void init(industrial::shared_types::shared_int robot_id,
00119             industrial::shared_types::shared_int sequence,
00120             MotionControlCmd command,
00121             industrial::shared_types::shared_real data);
00122 
00128   void setRobotID(industrial::shared_types::shared_int robot_id)
00129   {
00130     this->robot_id_ = robot_id;
00131   }
00132 
00138   industrial::shared_types::shared_int getRobotID()
00139   {
00140     return this->robot_id_;
00141   }
00142 
00148   void setSequence(industrial::shared_types::shared_int sequence)
00149   {
00150     this->sequence_ = sequence;
00151   }
00152 
00158   industrial::shared_types::shared_int getSequence()
00159   {
00160     return this->sequence_;
00161   }
00162 
00168   void setCommand(MotionControlCmd command)
00169   {
00170     this->command_ = command;
00171   }
00172 
00178   MotionControlCmd getCommand()
00179   {
00180     return (MotionControlCmd)this->command_;
00181   }
00182 
00186   void clearData()
00187   {
00188     for (size_t i=0; i<MAX_DATA_CNT; ++i)
00189       this->data_[i] = 0.0;
00190   }
00191 
00198   void setData(size_t idx, industrial::shared_types::shared_real val)
00199   {
00200     if (idx<MAX_DATA_CNT)
00201       this->data_[idx] = val;
00202     else
00203       LOG_ERROR("MotionCtrl data index out-of-range (%d >= %d)",
00204                 (int)idx, (int)MAX_DATA_CNT);
00205   }
00206 
00213   industrial::shared_types::shared_real getData(size_t idx)
00214   {
00215     if (idx<MAX_DATA_CNT)
00216     {
00217       return this->data_[idx];
00218     }
00219     else
00220     {
00221       LOG_ERROR("MotionCtrl data index out-of-range (%d >= %d)",
00222                 (int)idx, (int)MAX_DATA_CNT);
00223 
00224       return 0;
00225     }
00226   }
00227 
00233   void copyFrom(MotionCtrl &src);
00234 
00240   bool operator==(MotionCtrl &rhs);
00241 
00242   // Overrides - SimpleSerialize
00243   bool load(industrial::byte_array::ByteArray *buffer);
00244   bool unload(industrial::byte_array::ByteArray *buffer);
00245   unsigned int byteLength()
00246   {
00247     return 3*sizeof(industrial::shared_types::shared_int) +
00248            MAX_DATA_CNT*sizeof(industrial::shared_types::shared_real);
00249   }
00250 
00251 private:
00252 
00257   industrial::shared_types::shared_int robot_id_;
00258 
00262   industrial::shared_types::shared_int sequence_;
00263 
00267   industrial::shared_types::shared_int command_;
00268 
00272   static const size_t MAX_DATA_CNT = 10;
00273 
00278   industrial::shared_types::shared_real data_[MAX_DATA_CNT];
00279 
00280 };
00281 
00282 }
00283 }
00284 }
00285 
00286 #endif /* MOTOMAN_MOTION_CTRL_H */
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fs100
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Mon May 27 2013 19:43:14