sdhserial.h

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/*
 * Copyright (c) 2007 SCHUNK GmbH & Co. KG
 * Copyright (c) 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

//======================================================================
//======================================================================

#ifndef SDHSERIAL_H_
#define SDHSERIAL_H_

#include "sdhlibrary_settings.h"

//----------------------------------------------------------------------
// System Includes - include with <>
//----------------------------------------------------------------------

#include <assert.h>
#if ! SDH_USE_VCC
# include <unistd.h>
#endif

//----------------------------------------------------------------------
// Project Includes - include with ""
//----------------------------------------------------------------------

#include "dbg.h"
#include "sdhexception.h"
#include "simplevector.h"
#include "simplestringlist.h"
#include "sdhbase.h"
#include "serialbase.h"

//----------------------------------------------------------------------
// Defines, enums, unions, structs,
//----------------------------------------------------------------------

#include "sdh_codes.h"

//----------------------------------------------------------------------
// Global variables
//----------------------------------------------------------------------


//----------------------------------------------------------------------
// Function declarations
//----------------------------------------------------------------------


//----------------------------------------------------------------------
// Class declarations
//----------------------------------------------------------------------

NAMESPACE_SDH_START

// forward declarations of privatly used structures:
struct sSDHBinaryRequest;
struct sSDHBinaryResponse;

class VCC_EXPORT cSDHSerial : public cSDHBase
{
  friend struct sSDHBinaryRequest;
  friend struct sSDHBinaryResponse;

protected:
  double m_sequtime;

  char const* EOL;

  cSerialBase* com;


  cSimpleStringList reply;

  int nb_lines_to_ignore;

public:
  //#################################################################
  //-----------------------------------------------------------------
  cSDHSerial(int _debug_level = 0);


  //-----------------------------------------------------------------
  virtual ~cSDHSerial()
  {}


  //-----------------------------------------------------------------
  void Open(cSerialBase* _com)
  throw(cSDHLibraryException*);


  void Close()
  throw (cSDHLibraryException*);


  virtual bool IsOpen(void);


  void Send(char const* s, int nb_lines = All, int nb_lines_total = All, int max_retries = 3)
  throw(cSDHLibraryException*);


  void ExtractFirmwareState()
  throw(cSDHErrorCommunication*);


  double GetDuration(char* line)
  throw(cSDHErrorCommunication*);


  double get_duration(void);

  void Sync()
  throw(cSDHErrorCommunication*);

  void BinarySync(double timeout_s = 0.5)
  throw(cSDHErrorCommunication*);

  void SyncUnknown()
  throw(cSDHErrorCommunication*);


  cSimpleVector AxisCommand(char const* command, int axis = All, double* value = NULL)
  throw (cSDHLibraryException*);

  cSimpleVector BinaryAxisCommand(eCommandCode command, int axis = All, double* value = NULL)
  throw (cSDHLibraryException*);


  //  end of doxygen name group sdhlibrary_cpp_csdhserial_internal
  //################################################################

  //################################################################
  //-----------------------------------------------------------------
  cSimpleVector pid(int axis, double* p = NULL, double* i = NULL, double* d = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector kv(int axis = All, double* kv = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector ilim(int axis = All, double* limit = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector power(int axis = All, double* flag = NULL)
  throw (cSDHLibraryException*);

  //  end of doxygen name group sdhlibrary_cpp_csdhserial_setup_commands
  //#################################################################


  //#################################################################
  //-----------------------------------------------------------------
  void demo(bool onoff);

  //-----------------------------------------------------------------
  int property(char const* propname, int value);

  //-----------------------------------------------------------------
  int user_errors(int value);

  //-----------------------------------------------------------------
  int terminal(int value);

  //-----------------------------------------------------------------
  int debug(int value);

  //-----------------------------------------------------------------

  //  end of doxygen name group sdhlibrary_cpp_csdhserial_misc_commands
  //#################################################################

  //#################################################################
  //-----------------------------------------------------------------
  cSimpleVector v(int axis = All, double* velocity = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector tvav(int axis = All, double* velocity = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector vlim(int axis = All, double* dummy = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector alim(int axis = All, double* dummy = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector a(int axis = All, double* acceleration = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector p(int axis = All, double* angle = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector tpap(int axis = All, double* angle = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  double m(bool sequ)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  void stop(void)
  throw(cSDHLibraryException*);


  //-----------------------------------------------------------------
  eVelocityProfile vp(eVelocityProfile velocity_profile = eVP_INVALID)
  throw (cSDHLibraryException*);


  //-----------------------------------------------------------------
  eControllerType con(eControllerType controller)
  throw (cSDHLibraryException*);

  //  end of doxygen name group sdhlibrary_cpp_csdhserial_movement_commands
  //#################################################################

  //#################################################################
  //-----------------------------------------------------------------
  cSimpleVector pos(int axis = All, double* dummy = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector pos_save(int axis = All, double* value = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------

  cSimpleVector ref(int axis = All, double* value = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector vel(int axis = All, double* dummy = NULL)
  throw (cSDHLibraryException*);

  cSimpleVector rvel(int axis, double* dummy = NULL)
  throw (cSDHLibraryException*);


  //-----------------------------------------------------------------
  cSimpleVector state(int axis = All, double* dummy = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector temp(void)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector temp_electronics(void)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  char* ver(void)
  throw (cSDHLibraryException*);
  //-----------------------------------------------------------------

  char* ver_date(void)
  throw (cSDHLibraryException*);
  //-----------------------------------------------------------------

  char* id(void)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  char* sn(void)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  char* soc(void)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  char* soc_date(void)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  int numaxis(void)
  throw (cSDHLibraryException*);


  //  end of doxygen name group sdhlibrary_cpp_csdhserial_diagnosis_commands
  //#################################################################

  //#################################################################
  //-----------------------------------------------------------------
  cSimpleVector igrip(int axis = All, double* limit = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  cSimpleVector ihold(int axis = All, double* limit = NULL)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  double selgrip(eGraspId grip, bool sequ)
  throw (cSDHLibraryException*);

  //-----------------------------------------------------------------
  double grip(double close, double velocity, bool sequ)
  throw (cSDHLibraryException*);

  //  end of doxygen name group sdhlibrary_cpp_csdhserial_grip_commands
  //#################################################################

}; // end of class cSDHSerial
//=====================================================================

typedef cSimpleVector(cSDHSerial::*pSetFunction)(int, double*);

typedef cSimpleVector(cSDHSerial::*pGetFunction)(int, double*);

NAMESPACE_SDH_END

#endif


//======================================================================
/*
  Here are some settings for the emacs/xemacs editor (and can be safely ignored):
  (e.g. to explicitely set C++ mode for *.h header files)

  Local Variables:
  mode:C++
  mode:ELSE
  End:
*/
//======================================================================