ur_driver.h

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/*
 * ur_driver
 *
 * Copyright 2015 Thomas Timm Andersen
 *
 * 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 UR_DRIVER_H_
#define UR_DRIVER_H_

#include <mutex>
#include <condition_variable>
#include "ur_realtime_communication.h"
#include "ur_communication.h"
#include "do_output.h"
#include <vector>
#include <math.h>
#include <string>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>

#include <chrono>


class UrDriver {
private:
        double maximum_time_step_;
        double minimum_payload_;
        double maximum_payload_;
        std::vector<std::string> joint_names_;
        std::string ip_addr_;
        const int MULT_JOINTSTATE_ = 1000000;
        const int MULT_TIME_ = 1000000;
        const unsigned int REVERSE_PORT_;
        int incoming_sockfd_;
        int new_sockfd_;
        bool reverse_connected_;
        double servoj_time_;
        bool executing_traj_;
        double firmware_version_;
        double servoj_lookahead_time_;
        double servoj_gain_;
public:
        UrRealtimeCommunication* rt_interface_;
        UrCommunication* sec_interface_;

        UrDriver(std::condition_variable& rt_msg_cond,
                        std::condition_variable& msg_cond, std::string host,
                        unsigned int reverse_port = 50007, double servoj_time = 0.016, unsigned int safety_count_max =
                                        12, double max_time_step = 0.08, double min_payload = 0.,
                        double max_payload = 1., double servoj_lookahead_time=0.03, double servoj_gain=300.);
        bool start();
        void halt();

        void setSpeed(double q0, double q1, double q2, double q3, double q4,
                        double q5, double acc = 100.);

        bool doTraj(std::vector<double> inp_timestamps,
                        std::vector<std::vector<double> > inp_positions,
                        std::vector<std::vector<double> > inp_velocities);
        void servoj(std::vector<double> positions, int keepalive = 1);

        void stopTraj();

        bool uploadProg();
        bool openServo();
        void closeServo(std::vector<double> positions);

        std::vector<double> interp_cubic(double t, double T,
                        std::vector<double> p0_pos, std::vector<double> p1_pos,
                        std::vector<double> p0_vel, std::vector<double> p1_vel);

        std::vector<std::string> getJointNames();
        void setJointNames(std::vector<std::string> jn);
        void setToolVoltage(unsigned int v);
        void setFlag(unsigned int n, bool b);
        void setDigitalOut(unsigned int n, bool b);
        void setAnalogOut(unsigned int n, double f);
        bool setPayload(double m);

        void setMinPayload(double m);
        void setMaxPayload(double m);
        void setServojTime(double t);
        void setServojLookahead(double t);
        void setServojGain(double g);

};

#endif /* UR_DRIVER_H_ */