kmlBase.h

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/*
 *   Katana Native Interface - A C++ interface to the robot arm Katana.
 *   Copyright (C) 2005 Neuronics AG
 *   Check out the AUTHORS file for detailed contact information.
 *
 *   This program is free software; you can redistribute it and/or modify
 *   it under the terms of the GNU General Public License as published by
 *   the Free Software Foundation; either version 2 of the License, or
 *   (at your option) any later version.
 *
 *   This program is distributed in the hope that it will be useful,
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *   GNU General Public License for more details.
 *
 *   You should have received a copy of the GNU General Public License
 *   along with this program; if not, write to the Free Software
 *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */


//--------------------------------------------------------------------------//
#ifndef _KMLBASE_H_
#define _KMLBASE_H_
//--------------------------------------------------------------------------//
#include "common/dllexport.h"

#include "KNI/cplBase.h"
#include "KNI/kmlCommon.h"
#include "KNI/kmlMotBase.h"
#include "KNI/kmlSctBase.h"

#include "KNI/cdlCOM.h"
#include "KNI/cdlCOMExceptions.h"


//--------------------------------------------------------------------------//
#define K400_OLD_PROTOCOL_THRESHOLD 3

#if !defined (BYTE_DECLARED)
#define BYTE_DECLARED
typedef unsigned char byte;     
#endif

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

#define TM_ENDLESS -1   //!< timeout symbol for 'endless' waiting

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

class CKatBase; //katana
class CMotBase; //motor
class CSctBase; //sensor contoller



//--------------------------------------------------------------------------//
// CKatBase ----------------------------------------------------------------//
//--------------------------------------------------------------------------//

struct  TKatGNL {
        byte            adr;                    
        char            modelName[255]; 
};

struct  TKatMFW {
        byte            ver;                    
        byte            rev;                    
};

struct  TKatIDS {
        byte            strID[256];             
};

struct  TKatCTB {
        byte            cmdtbl[256];    
};

struct TKatCBX {
        bool inp[2];                            
        bool out[2];                            
};

struct  TKatECH {
        byte            echo;                   
};

struct TKatEFF {
        double          arr_segment[4];         
};



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

class  DLLDIR CKatBase {

protected:
        TKatGNL gnl;    
        TKatMFW mfw;    
        TKatIDS ids;    
        TKatCTB ctb;    
        TKatCBX cbx;    
        TKatECH ech;    

        TKatMOT mot;    
        TKatSCT sct;    
        TKatEFF eff;    

        CCplBase* protocol;     
        short mMasterVersion;   
        short mMasterRevision;  

public: const TKatGNL* GetGNL() { return &gnl; }        const TKatMFW* GetMFW() { return &mfw; }        const TKatIDS* GetIDS() { return &ids; }        const TKatCTB* GetCTB() { return &ctb; }        const TKatCBX* GetCBX() { return &cbx; }        const TKatECH* GetECH() { return &ech; }
        const TKatMOT* GetMOT() { return &mot; }        const TKatSCT* GetSCT() { return &sct; }        TKatEFF* GetEFF() { return &eff; }

        
        CKatBase() {}
        virtual ~CKatBase() {}

        virtual bool init(
                const TKatGNL _gnl,             
                const TKatMOT _mot,             
                const TKatSCT _sct,             
                const TKatEFF _eff,             
                CCplBase* _protocol             
                );
        void    recvMFW();      void    recvIDS();      void    recvCTB();      void    recvGMS();      void    waitFor(TMotStsFlg status, int waitTimeout, bool gripper);      void    recvECH();      void    recvMPS();
        CCplBase* getProtocol(){return protocol;}
        int checkKatanaType(int type);

        void getMasterFirmware(short* fw, short* rev);
        void enableCrashLimits();       void disableCrashLimits();      void unBlock();
        void setCrashLimit(long idx, int limit);
        void setPositionCollisionLimit(long idx, int limit);
        void setSpeedCollisionLimit(long idx, int limit);

    void startSplineMovement(int exactflag, int moreflag = 1);

    void setAndStartPolyMovement(std::vector<short> polynomial, int exactflag, int moreflag);
    
        int readDigitalIO();
    
        int flushMoveBuffers();
};





/****************************************************************************/
#endif //_KMLBASE_H_
/****************************************************************************/