sdhserial.h
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00001 //======================================================================
00028 //======================================================================
00029 
00030 #ifndef SDHSERIAL_H_
00031 #define SDHSERIAL_H_
00032 
00033 #include "sdhlibrary_settings.h"
00034 
00035 //----------------------------------------------------------------------
00036 // System Includes - include with <>
00037 //----------------------------------------------------------------------
00038 
00039 #include <assert.h>
00040 #if ! SDH_USE_VCC
00041 # include <unistd.h>
00042 #endif
00043 
00044 //----------------------------------------------------------------------
00045 // Project Includes - include with ""
00046 //----------------------------------------------------------------------
00047 
00048 #include "dbg.h"
00049 #include "sdhexception.h"
00050 #include "simplevector.h"
00051 #include "simplestringlist.h"
00052 #include "sdhbase.h"
00053 #include "serialbase.h"
00054 
00055 //----------------------------------------------------------------------
00056 // Defines, enums, unions, structs,
00057 //----------------------------------------------------------------------
00058 
00059 #include "sdh_codes.h"
00060 
00061 //----------------------------------------------------------------------
00062 // Global variables
00063 //----------------------------------------------------------------------
00064 
00065 
00066 //----------------------------------------------------------------------
00067 // Function declarations
00068 //----------------------------------------------------------------------
00069 
00070 
00071 //----------------------------------------------------------------------
00072 // Class declarations
00073 //----------------------------------------------------------------------
00074 
00075 NAMESPACE_SDH_START
00076 
00077 // forward declarations of privatly used structures:
00078 struct sSDHBinaryRequest;
00079 struct sSDHBinaryResponse;
00080 
00091 class VCC_EXPORT cSDHSerial : public cSDHBase
00092 {
00093     friend struct sSDHBinaryRequest;
00094     friend struct sSDHBinaryResponse;
00095 
00096 protected:
00102     double m_sequtime;
00103 
00105     char const* EOL;
00106 
00108     cSerialBase* com;
00109 
00110 
00112     cSimpleStringList reply;
00113 
00115     int nb_lines_to_ignore;
00116 
00117 public:
00118     //#################################################################
00126     //-----------------------------------------------------------------
00136     cSDHSerial( int _debug_level=0 );
00137 
00138 
00139     //-----------------------------------------------------------------
00143     virtual ~cSDHSerial()
00144     {}
00145 
00146 
00147     //-----------------------------------------------------------------
00166     void Open( cSerialBase* _com )
00167         throw(cSDHLibraryException*);
00168 
00169 
00173     void Close()
00174         throw (cSDHLibraryException*);
00175 
00176 
00180     virtual bool IsOpen( void );
00181 
00182 
00198     void Send( char const* s, int nb_lines=All, int nb_lines_total=All, int max_retries=3 )
00199         throw( cSDHLibraryException* );
00200 
00201 
00205     void ExtractFirmwareState()
00206         throw( cSDHErrorCommunication* );
00207 
00208 
00212     double GetDuration( char* line )
00213         throw( cSDHErrorCommunication* );
00214 
00215 
00223     double get_duration( void );
00224 
00228     void Sync( )
00229         throw( cSDHErrorCommunication* );
00230 
00234     void BinarySync( double timeout_s = 0.5 )
00235         throw( cSDHErrorCommunication* );
00236 
00240     void SyncUnknown( )
00241         throw( cSDHErrorCommunication* );
00242 
00243 
00257     cSimpleVector AxisCommand( char const* command, int axis=All, double* value=NULL )
00258         throw (cSDHLibraryException*);
00259 
00273     cSimpleVector BinaryAxisCommand( eCommandCode command, int axis=All, double* value=NULL )
00274         throw (cSDHLibraryException*);
00275 
00276 
00277     //  end of doxygen name group sdhlibrary_cpp_csdhserial_internal
00279     //################################################################
00280 
00281     //################################################################
00288     //-----------------------------------------------------------------
00303     cSimpleVector pid( int axis, double* p=NULL, double* i=NULL, double* d=NULL )
00304         throw (cSDHLibraryException*);
00305 
00306     //-----------------------------------------------------------------
00324     cSimpleVector kv( int axis=All, double* kv=NULL )
00325         throw (cSDHLibraryException*);
00326 
00327     //-----------------------------------------------------------------
00340     cSimpleVector ilim( int axis=All, double* limit=NULL )
00341         throw (cSDHLibraryException*);
00342 
00343     //-----------------------------------------------------------------
00360     cSimpleVector power( int axis=All, double* flag=NULL )
00361         throw (cSDHLibraryException*);
00362 
00363     //  end of doxygen name group sdhlibrary_cpp_csdhserial_setup_commands
00365     //#################################################################
00366 
00367 
00368     //#################################################################
00375     //-----------------------------------------------------------------
00379     void demo( bool onoff );
00380 
00381     //-----------------------------------------------------------------
00390     int property( char const* propname, int value );
00391 
00392     //-----------------------------------------------------------------
00395     int user_errors( int value );
00396 
00397     //-----------------------------------------------------------------
00400     int terminal( int value );
00401 
00402     //-----------------------------------------------------------------
00405     int debug( int value );
00406 
00407     //-----------------------------------------------------------------
00408 
00409     //  end of doxygen name group sdhlibrary_cpp_csdhserial_misc_commands
00411     //#################################################################
00412 
00413     //#################################################################
00420     //-----------------------------------------------------------------
00444     cSimpleVector v( int axis=All, double* velocity=NULL )
00445         throw (cSDHLibraryException*);
00446 
00447     //-----------------------------------------------------------------
00469     cSimpleVector tvav( int axis=All, double* velocity=NULL )
00470         throw (cSDHLibraryException*);
00471 
00472     //-----------------------------------------------------------------
00487     cSimpleVector vlim( int axis=All, double* dummy=NULL )
00488         throw (cSDHLibraryException*);
00489 
00490     //-----------------------------------------------------------------
00505     cSimpleVector alim( int axis=All, double* dummy=NULL )
00506         throw (cSDHLibraryException*);
00507 
00508     //-----------------------------------------------------------------
00524     cSimpleVector a( int axis=All, double* acceleration=NULL )
00525         throw (cSDHLibraryException*);
00526 
00527     //-----------------------------------------------------------------
00543     cSimpleVector p( int axis=All, double* angle=NULL )
00544         throw (cSDHLibraryException*);
00545 
00546     //-----------------------------------------------------------------
00562     cSimpleVector tpap( int axis=All, double* angle=NULL )
00563         throw (cSDHLibraryException*);
00564 
00565     //-----------------------------------------------------------------
00579     double m( bool sequ )
00580         throw (cSDHLibraryException*);
00581 
00582     //-----------------------------------------------------------------
00588     void stop( void )
00589         throw(cSDHLibraryException*);
00590 
00591 
00592     //-----------------------------------------------------------------
00600     eVelocityProfile vp( eVelocityProfile velocity_profile = eVP_INVALID )
00601         throw (cSDHLibraryException*);
00602 
00603 
00604     //-----------------------------------------------------------------
00612     eControllerType con( eControllerType controller )
00613         throw (cSDHLibraryException*);
00614 
00615     //  end of doxygen name group sdhlibrary_cpp_csdhserial_movement_commands
00617     //#################################################################
00618 
00619     //#################################################################
00626     //-----------------------------------------------------------------
00644     cSimpleVector pos( int axis=All, double* dummy=NULL )
00645         throw (cSDHLibraryException*);
00646 
00658     //-----------------------------------------------------------------
00659     cSimpleVector pos_save( int axis=All, double* value=NULL )
00660         throw (cSDHLibraryException*);
00661 
00662     //-----------------------------------------------------------------
00663 
00677     cSimpleVector ref( int axis=All, double* value=NULL )
00678         throw (cSDHLibraryException*);
00679 
00680     //-----------------------------------------------------------------
00698     cSimpleVector vel( int axis=All, double* dummy=NULL )
00699         throw (cSDHLibraryException*);
00700 
00722     cSimpleVector rvel( int axis, double* dummy=NULL )
00723         throw (cSDHLibraryException*);
00724 
00725 
00726     //-----------------------------------------------------------------
00737     cSimpleVector state( int axis=All, double* dummy=NULL )
00738         throw (cSDHLibraryException*);
00739 
00740     //-----------------------------------------------------------------
00747     cSimpleVector temp( void )
00748         throw (cSDHLibraryException*);
00749 
00750     //-----------------------------------------------------------------
00759     cSimpleVector temp_electronics( void )
00760         throw (cSDHLibraryException*);
00761 
00762     //-----------------------------------------------------------------
00770     char* ver( void )
00771         throw (cSDHLibraryException*);
00772     //-----------------------------------------------------------------
00773 
00781     char* ver_date( void )
00782         throw (cSDHLibraryException*);
00783     //-----------------------------------------------------------------
00784 
00792     char* id( void )
00793         throw (cSDHLibraryException*);
00794 
00795     //-----------------------------------------------------------------
00803     char* sn( void )
00804         throw (cSDHLibraryException*);
00805 
00806     //-----------------------------------------------------------------
00814     char* soc( void )
00815         throw (cSDHLibraryException*);
00816 
00817     //-----------------------------------------------------------------
00825     char* soc_date( void )
00826         throw (cSDHLibraryException*);
00827 
00828     //-----------------------------------------------------------------
00832     int numaxis( void )
00833         throw (cSDHLibraryException*);
00834 
00835 
00836     //  end of doxygen name group sdhlibrary_cpp_csdhserial_diagnosis_commands
00838     //#################################################################
00839 
00840     //#################################################################
00847     //-----------------------------------------------------------------
00860     cSimpleVector igrip( int axis=All, double* limit=NULL )
00861         throw (cSDHLibraryException*);
00862 
00863     //-----------------------------------------------------------------
00876     cSimpleVector ihold( int axis=All, double* limit=NULL )
00877         throw (cSDHLibraryException*);
00878 
00879     //-----------------------------------------------------------------
00893     double selgrip( eGraspId grip, bool sequ )
00894         throw (cSDHLibraryException*);
00895 
00896     //-----------------------------------------------------------------
00911     double grip( double close, double velocity, bool sequ )
00912         throw (cSDHLibraryException*);
00913 
00914     //  end of doxygen name group sdhlibrary_cpp_csdhserial_grip_commands
00916     //#################################################################
00917 
00918 }; // end of class cSDHSerial
00919 //=====================================================================
00920 
00922 typedef cSimpleVector (cSDHSerial::*pSetFunction)(int, double*);
00923 
00925 typedef cSimpleVector (cSDHSerial::*pGetFunction)(int, double*);
00926 
00927 NAMESPACE_SDH_END
00928 
00929 #endif
00930 
00931 
00932 //======================================================================
00933 /*
00934   Here are some settings for the emacs/xemacs editor (and can be safely ignored):
00935   (e.g. to explicitely set C++ mode for *.h header files)
00936 
00937   Local Variables:
00938   mode:C++
00939   mode:ELSE
00940   End:
00941 */
00942 //======================================================================
00943 


schunk_sdh
Author(s): Mathias Luedtke , Florian Weisshardt
autogenerated on Thu Aug 27 2015 15:07:03