joint_trajectory_downloader.cpp
Go to the documentation of this file.
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 #include "industrial_robot_client/joint_trajectory_downloader.h"
00033 
00034 namespace industrial_robot_client
00035 {
00036 namespace joint_trajectory_downloader
00037 {
00038 
00039 using industrial::simple_message::SimpleMessage;
00040 namespace SpecialSeqValues = industrial::joint_traj_pt::SpecialSeqValues;
00041 
00042 bool JointTrajectoryDownloader::send_to_robot(const std::vector<JointTrajPtMessage>& messages)
00043 {
00044   bool rslt=true;
00045   std::vector<JointTrajPtMessage> points(messages);
00046   SimpleMessage msg;
00047 
00048   // Trajectory download requires at least two points (START/END)
00049   if (points.size() < 2)
00050     points.push_back(JointTrajPtMessage(points[0]));
00051 
00052   // The first and last points are assigned special sequence values
00053   points.begin()->setSequence(SpecialSeqValues::START_TRAJECTORY_DOWNLOAD);
00054   points.back().setSequence(SpecialSeqValues::END_TRAJECTORY);
00055 
00056   if (!this->connection_->isConnected())
00057   {
00058     ROS_WARN("Attempting robot reconnection");
00059     this->connection_->makeConnect();
00060   }
00061 
00062   ROS_INFO("Sending trajectory points, size: %d", (int)points.size());
00063 
00064   for (int i = 0; i < (int)points.size(); ++i)
00065   {
00066     ROS_DEBUG("Sending joints trajectory point[%d]", i);
00067 
00068     points[i].toTopic(msg);
00069     bool ptRslt = this->connection_->sendMsg(msg);
00070     if (ptRslt)
00071       ROS_DEBUG("Point[%d] sent to controller", i);
00072     else
00073       ROS_WARN("Failed sent joint point, skipping point");
00074 
00075     rslt &= ptRslt;
00076   }
00077 
00078   return rslt;
00079 }
00080 
00081 } //joint_trajectory_downloader
00082 } //industrial_robot_client
00083 


industrial_robot_client
Author(s): Jeremy Zoss
autogenerated on Sat Jun 8 2019 20:43:29