#include <denso_robot_rc8.h>

Inheritance diagram for denso_robot_core::DensoRobotRC8:

Public Types
enum	{ SLVMODE_NONE = 0, SLVMODE_POSE_P = 0x0001, SLVMODE_POSE_J = 0x0002, SLVMODE_POSE_T = 0x0003, SLVMODE_POSE = 0x000F, SLVMODE_ASYNC = 0x0100, SLVMODE_SYNC_WAIT = 0x0200 }
enum	{ SENDFMT_NONE = 0, SENDFMT_HANDIO = 0x0020, SENDFMT_MINIIO = 0x0100, SENDFMT_USERIO = 0x0200 }
enum	{ RECVFMT_NONE = 0, RECVFMT_POSE_P = 0x0001, RECVFMT_POSE_J = 0x0002, RECVFMT_POSE_T = 0x0003, RECVFMT_POSE_PJ = 0x0004, RECVFMT_POSE_TJ = 0x0005, RECVFMT_POSE = 0x000F, RECVFMT_TIME = 0x0010, RECVFMT_HANDIO = 0x0020, RECVFMT_CURRENT = 0x0040, RECVFMT_MINIIO = 0x0100, RECVFMT_USERIO = 0x0200 }
enum	{ TSFMT_MILLISEC = 0, TSFMT_MICROSEC = 1 }
Public Member Functions
	DensoRobotRC8 (DensoBase parent, Service_Vec &service, Handle_Vec &handle, const std::string &name, const int mode)
HRESULT	ExecChange (const std::string &value)
HRESULT	ExecCurJnt (std::vector< double > &pose)
HRESULT	ExecDrive (const std::string &name, const VARIANT_Ptr &option)
HRESULT	ExecGiveArm ()
HRESULT	ExecHalt ()
HRESULT	ExecMove (int comp, const VARIANT_Ptr &pose, const std::string &option)
HRESULT	ExecSlaveMove (const std::vector< double > &pose, std::vector< double > &joint)
HRESULT	ExecSpeed (float value)
HRESULT	ExecTakeArm ()
void	get_Current (std::vector< double > &current) const
int	get_HandIO () const
int	get_MiniIO () const
int	get_RecvFormat () const
void	get_RecvUserIO (UserIO &value) const
int	get_SendFormat () const
int	get_TimeFormat () const
int	get_Timestamp () const
void	put_HandIO (int value)
void	put_MiniIO (int value)
void	put_RecvFormat (int format)
void	put_RecvUserIO (const UserIO &value)
void	put_SendFormat (int format)
void	put_SendUserIO (const UserIO &value)
void	put_TimeFormat (int format)
HRESULT	StartService (ros::NodeHandle &node)
HRESULT	StopService ()
bool	Update ()
	~DensoRobotRC8 ()
Private Member Functions
void	Action_Feedback ()
void	Callback_Cancel ()
void	Callback_Change (const std::string &name, const Int32::ConstPtr &msg)
void	Callback_DriveString (const std::string &name, const DriveStringGoalConstPtr &goal)
void	Callback_DriveValue (const std::string &name, const DriveValueGoalConstPtr &goal)
void	Callback_MoveString (const MoveStringGoalConstPtr &goal)
void	Callback_MoveValue (const MoveValueGoalConstPtr &goal)
void	Callback_Speed (const Float32::ConstPtr &msg)
HRESULT	ChangeMode (int mode)
HRESULT	CreateSendParameter (const std::vector< double > &pose, VARIANT_Ptr &send, const int miniio=0, const int handio=0, const int recv_userio_offset=0, const int recv_userio_size=0, const int send_userio_offset=0, const int send_userio_size=0, const std::vector< uint8_t > &send_userio=std::vector< uint8_t >())
HRESULT	ExecSlaveMode (const std::string &name, int32_t format, int32_t option=0)
HRESULT	ParseRecvParameter (const VARIANT_Ptr &recv, std::vector< double > &position, std::vector< double > &joint, std::vector< double > &trans, int &miniio, int &handio, int &timestamp, std::vector< uint8_t > &recv_userio, std::vector< double > &current)
Private Attributes
boost::shared_ptr < SimpleActionServer < DriveStringAction > >	m_actDriveAExString
boost::shared_ptr < SimpleActionServer < DriveValueAction > >	m_actDriveAExValue
boost::shared_ptr < SimpleActionServer < DriveStringAction > >	m_actDriveExString
boost::shared_ptr < SimpleActionServer < DriveValueAction > >	m_actDriveExValue
boost::shared_ptr < SimpleActionServer < MoveStringAction > >	m_actMoveString
boost::shared_ptr < SimpleActionServer < MoveValueAction > >	m_actMoveValue
int	m_curAct
std::vector< double >	m_current
std::vector< double >	m_joint
unsigned int	m_memRetry
uint32_t	m_memTimeout
boost::mutex	m_mtxAct
std::vector< double >	m_position
int	m_recv_handio
int	m_recv_miniio
std::vector< uint8_t >	m_recv_userio
int	m_recv_userio_offset
int	m_recv_userio_size
int	m_recvfmt
int	m_send_handio
int	m_send_miniio
std::vector< uint8_t >	m_send_userio
int	m_send_userio_offset
int	m_send_userio_size
int	m_sendfmt
ros::Subscriber	m_subChangeTool
ros::Subscriber	m_subChangeWork
ros::Subscriber	m_subSpeed
int	m_timestamp
std::vector< double >	m_trans
int	m_tsfmt
Friends
class	DensoRobotCore

Detailed Description

Definition at line 36 of file denso_robot_rc8.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

SLVMODE_NONE
SLVMODE_POSE_P
SLVMODE_POSE_J
SLVMODE_POSE_T
SLVMODE_POSE
SLVMODE_ASYNC
SLVMODE_SYNC_WAIT

Definition at line 41 of file denso_robot_rc8.h.

anonymous enum

Enumerator:

SENDFMT_NONE
SENDFMT_HANDIO
SENDFMT_MINIIO
SENDFMT_USERIO

Definition at line 51 of file denso_robot_rc8.h.

anonymous enum

Enumerator:

RECVFMT_NONE
RECVFMT_POSE_P
RECVFMT_POSE_J
RECVFMT_POSE_T
RECVFMT_POSE_PJ
RECVFMT_POSE_TJ
RECVFMT_POSE
RECVFMT_TIME
RECVFMT_HANDIO
RECVFMT_CURRENT
RECVFMT_MINIIO
RECVFMT_USERIO

Definition at line 58 of file denso_robot_rc8.h.

anonymous enum

Enumerator:

TSFMT_MILLISEC
TSFMT_MICROSEC

Definition at line 73 of file denso_robot_rc8.h.

Constructor & Destructor Documentation

denso_robot_core::DensoRobotRC8::DensoRobotRC8	(	DensoBase *	parent,
		Service_Vec &	service,
		Handle_Vec &	handle,
		const std::string &	name,
		const int *	mode
	)

Definition at line 62 of file denso_robot_rc8.cpp.

denso_robot_core::DensoRobotRC8::~DensoRobotRC8 ( )

Definition at line 83 of file denso_robot_rc8.cpp.

Member Function Documentation

void denso_robot_core::DensoRobotRC8::Action_Feedback ( ) [private]

Definition at line 1212 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::Callback_Cancel ( ) [private]

Definition at line 1180 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::Callback_Change	(	const std::string &	name,
		const Int32::ConstPtr &	msg
	)		`[private]`

Definition at line 1172 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::Callback_DriveString	(	const std::string &	name,
		const DriveStringGoalConstPtr &	goal
	)		`[private]`

Definition at line 1031 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::Callback_DriveValue	(	const std::string &	name,
		const DriveValueGoalConstPtr &	goal
	)		`[private]`

Definition at line 1089 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::Callback_MoveString ( const MoveStringGoalConstPtr & goal ) [private]

Definition at line 954 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::Callback_MoveValue ( const MoveValueGoalConstPtr & goal ) [private]

Definition at line 993 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::Callback_Speed ( const Float32::ConstPtr & msg ) [private]

Definition at line 1167 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::ChangeMode ( int mode ) [private]

Definition at line 562 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::CreateSendParameter	(	const std::vector< double > &	pose,
		VARIANT_Ptr &	send,
		const int	miniio = `0`,
		const int	handio = `0`,
		const int	recv_userio_offset = `0`,
		const int	recv_userio_size = `0`,
		const int	send_userio_offset = `0`,
		const int	send_userio_size = `0`,
		const std::vector< uint8_t > &	send_userio = `std::vector<uint8_t>()`
	)		`[private]`

Definition at line 641 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::ExecChange ( const std::string & value )

Definition at line 397 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::ExecCurJnt ( std::vector< double > & pose )

Definition at line 463 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::ExecDrive	(	const std::string &	name,
		const VARIANT_Ptr &	option
	)

Definition at line 313 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::ExecGiveArm ( ) [virtual]

Implements denso_robot_core::DensoRobot.

Definition at line 238 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::ExecHalt ( )

Definition at line 435 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::ExecMove	(	int	comp,
		const VARIANT_Ptr &	pose,
		const std::string &	option
	)

Definition at line 267 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::ExecSlaveMode	(	const std::string &	name,
		int32_t	format,
		int32_t	option = `0`
	)		`[private]`

Definition at line 597 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::ExecSlaveMove	(	const std::vector< double > &	pose,
		std::vector< double > &	joint
	)

Definition at line 509 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::ExecSpeed ( float value )

Definition at line 355 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::ExecTakeArm ( ) [virtual]

Implements denso_robot_core::DensoRobot.

Definition at line 200 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::get_Current ( std::vector< double > & current ) const

Definition at line 1432 of file denso_robot_rc8.cpp.

int denso_robot_core::DensoRobotRC8::get_HandIO ( ) const

Definition at line 1356 of file denso_robot_rc8.cpp.

int denso_robot_core::DensoRobotRC8::get_MiniIO ( ) const

Definition at line 1346 of file denso_robot_rc8.cpp.

int denso_robot_core::DensoRobotRC8::get_RecvFormat ( ) const

Definition at line 1280 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::get_RecvUserIO ( UserIO & value ) const

Definition at line 1425 of file denso_robot_rc8.cpp.

int denso_robot_core::DensoRobotRC8::get_SendFormat ( ) const

Definition at line 1258 of file denso_robot_rc8.cpp.

int denso_robot_core::DensoRobotRC8::get_TimeFormat ( ) const

Definition at line 1328 of file denso_robot_rc8.cpp.

int denso_robot_core::DensoRobotRC8::get_Timestamp ( ) const

Definition at line 1437 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::ParseRecvParameter	(	const VARIANT_Ptr &	recv,
		std::vector< double > &	position,
		std::vector< double > &	joint,
		std::vector< double > &	trans,
		int &	miniio,
		int &	handio,
		int &	timestamp,
		std::vector< uint8_t > &	recv_userio,
		std::vector< double > &	current
	)		`[private]`