#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 Types inherited from denso_robot_core::DensoBase
enum	{ SRV_MIN = 0, SRV_ACT = SRV_MIN, SRV_WATCH, SRV_MAX = SRV_WATCH }

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 ()

Public Member Functions inherited from denso_robot_core::DensoRobot
HRESULT	AddVariable (const std::string &name)

void	ChangeArmGroup (int number)

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

HRESULT	get_Variable (const std::string &name, DensoVariable_Ptr *var)

virtual HRESULT	InitializeBCAP (XMLElement *xmlElem)

virtual	~DensoRobot ()

Public Member Functions inherited from denso_robot_core::DensoBase
	DensoBase (const std::string &name, const int *mode)

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

virtual HRESULT	InitializeBCAP ()

const std::string &	Name () const

std::string	RosName () const

virtual HRESULT	TerminateBCAP ()

virtual	~DensoBase ()

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

Additional Inherited Members
Static Public Member Functions inherited from denso_robot_core::DensoBase
static std::string	ConvertBSTRToString (const BSTR bstr)

static BSTR	ConvertStringToBSTR (const std::string &str)

Protected Member Functions inherited from denso_robot_core::DensoRobot
virtual HRESULT	AddVariable (XMLElement *xmlElem)

void	Callback_ArmGroup (const Int32::ConstPtr &msg)

HRESULT	CreateExJoints (const ExJoints &exjoints, VARIANT &vnt)

HRESULT	CreatePoseData (const PoseData &pose, VARIANT &vnt)

Protected Member Functions inherited from denso_robot_core::DensoBase
HRESULT	AddObject (int32_t get_id, const std::string &name, Handle_Vec &vecHandle)

HRESULT	AddVariable (int32_t get_id, const std::string &name, std::vector< boost::shared_ptr< class DensoVariable > > &vecVar, int16_t vt=VT_EMPTY, bool bRead=false, bool bWrite=false, bool bID=false, int iDuration=BCAP_VAR_DEFAULT_DURATION)

HRESULT	AddVariable (int32_t get_id, const XMLElement *xmlVar, std::vector< boost::shared_ptr< class DensoVariable > > &vecVar)

HRESULT	get_Object (const std::vector< boost::shared_ptr< DensoBase > > &vecBase, int index, boost::shared_ptr< DensoBase > *obj)

HRESULT	get_Object (const std::vector< boost::shared_ptr< DensoBase > > &vecBase, const std::string &name, boost::shared_ptr< DensoBase > *obj)

HRESULT	GetObjectNames (int32_t func_id, Name_Vec &vecName)

Protected Attributes inherited from denso_robot_core::DensoRobot
int32_t	m_ArmGroup

ros::Subscriber	m_subArmGroup

DensoVariable_Vec	m_vecVar

Protected Attributes inherited from denso_robot_core::DensoBase
const int *	m_mode

boost::mutex	m_mtxSrv

std::string	m_name

DensoBase *	m_parent

bool	m_serving

Handle_Vec	m_vecHandle

Service_Vec	m_vecService

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

Definition at line 771 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::put_HandIO ( int value )

Definition at line 1361 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::put_MiniIO ( int value )

Definition at line 1351 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::put_RecvFormat ( int format )

Definition at line 1285 of file denso_robot_rc8.cpp.

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

Definition at line 1399 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::put_SendFormat ( int format )

Definition at line 1263 of file denso_robot_rc8.cpp.

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

Definition at line 1366 of file denso_robot_rc8.cpp.

void denso_robot_core::DensoRobotRC8::put_TimeFormat ( int format )

Definition at line 1333 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::StartService ( ros::NodeHandle & node )

virtual

Reimplemented from denso_robot_core::DensoRobot.

Definition at line 88 of file denso_robot_rc8.cpp.

HRESULT denso_robot_core::DensoRobotRC8::StopService ( )

virtual

Reimplemented from denso_robot_core::DensoRobot.

Definition at line 167 of file denso_robot_rc8.cpp.

bool denso_robot_core::DensoRobotRC8::Update ( )

virtual

Reimplemented from denso_robot_core::DensoRobot.

Definition at line 188 of file denso_robot_rc8.cpp.

Friends And Related Function Documentation

friend class DensoRobotCore

friend

Definition at line 38 of file denso_robot_rc8.h.

Member Data Documentation

boost::shared_ptr<SimpleActionServer<DriveStringAction> > denso_robot_core::DensoRobotRC8::m_actDriveAExString

private

Definition at line 153 of file denso_robot_rc8.h.

boost::shared_ptr<SimpleActionServer<DriveValueAction> > denso_robot_core::DensoRobotRC8::m_actDriveAExValue

private

Definition at line 154 of file denso_robot_rc8.h.

boost::shared_ptr<SimpleActionServer<DriveStringAction> > denso_robot_core::DensoRobotRC8::m_actDriveExString

private

Definition at line 151 of file denso_robot_rc8.h.

boost::shared_ptr<SimpleActionServer<DriveValueAction> > denso_robot_core::DensoRobotRC8::m_actDriveExValue

private

Definition at line 152 of file denso_robot_rc8.h.

boost::shared_ptr<SimpleActionServer<MoveStringAction> > denso_robot_core::DensoRobotRC8::m_actMoveString

private

Definition at line 149 of file denso_robot_rc8.h.

boost::shared_ptr<SimpleActionServer<MoveValueAction> > denso_robot_core::DensoRobotRC8::m_actMoveValue

private

Definition at line 150 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_curAct

private

Definition at line 156 of file denso_robot_rc8.h.

std::vector<double> denso_robot_core::DensoRobotRC8::m_current

private

Definition at line 168 of file denso_robot_rc8.h.

std::vector<double> denso_robot_core::DensoRobotRC8::m_joint

private

Definition at line 168 of file denso_robot_rc8.h.

unsigned int denso_robot_core::DensoRobotRC8::m_memRetry

private

Definition at line 160 of file denso_robot_rc8.h.

uint32_t denso_robot_core::DensoRobotRC8::m_memTimeout

private

Definition at line 159 of file denso_robot_rc8.h.

boost::mutex denso_robot_core::DensoRobotRC8::m_mtxAct

private

Definition at line 157 of file denso_robot_rc8.h.

std::vector<double> denso_robot_core::DensoRobotRC8::m_position

private

Definition at line 168 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_recv_handio

private

Definition at line 164 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_recv_miniio

private

Definition at line 164 of file denso_robot_rc8.h.

std::vector<uint8_t> denso_robot_core::DensoRobotRC8::m_recv_userio

private

Definition at line 167 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_recv_userio_offset

private

Definition at line 166 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_recv_userio_size

private

Definition at line 166 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_recvfmt

private

Definition at line 164 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_send_handio

private

Definition at line 163 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_send_miniio

private

Definition at line 163 of file denso_robot_rc8.h.

std::vector<uint8_t> denso_robot_core::DensoRobotRC8::m_send_userio

private

Definition at line 167 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_send_userio_offset

private

Definition at line 165 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_send_userio_size

private

Definition at line 165 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_sendfmt

private

Definition at line 163 of file denso_robot_rc8.h.

ros::Subscriber denso_robot_core::DensoRobotRC8::m_subChangeTool

private

Definition at line 146 of file denso_robot_rc8.h.

ros::Subscriber denso_robot_core::DensoRobotRC8::m_subChangeWork

private

Definition at line 147 of file denso_robot_rc8.h.

ros::Subscriber denso_robot_core::DensoRobotRC8::m_subSpeed

private

Definition at line 145 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_timestamp

private

Definition at line 162 of file denso_robot_rc8.h.

std::vector<double> denso_robot_core::DensoRobotRC8::m_trans

private

Definition at line 168 of file denso_robot_rc8.h.

int denso_robot_core::DensoRobotRC8::m_tsfmt

private

Definition at line 162 of file denso_robot_rc8.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation