dsr_service_io_basic.cpp File Reference

#include <ros/ros.h>
#include <signal.h>
#include <boost/thread/thread.hpp>
#include <cstdlib>
#include <array>
#include <vector>
#include <algorithm>
#include <string>
#include <iostream>
#include <dsr_msgs/RobotState.h>
#include <dsr_msgs/RobotStop.h>
#include <dsr_msgs/MoveJoint.h>
#include <dsr_msgs/MoveLine.h>
#include <dsr_msgs/MoveJointx.h>
#include <dsr_msgs/MoveCircle.h>
#include <dsr_msgs/MoveSplineJoint.h>
#include <dsr_msgs/MoveSplineTask.h>
#include <dsr_msgs/MoveBlending.h>
#include <dsr_msgs/MoveSpiral.h>
#include <dsr_msgs/MovePeriodic.h>
#include <dsr_msgs/MoveWait.h>
#include <dsr_msgs/ConfigCreateTcp.h>
#include <dsr_msgs/ConfigDeleteTcp.h>
#include <dsr_msgs/GetCurrentTcp.h>
#include <dsr_msgs/SetCurrentTcp.h>
#include <dsr_msgs/SetCurrentTool.h>
#include <dsr_msgs/GetCurrentTool.h>
#include <dsr_msgs/ConfigCreateTool.h>
#include <dsr_msgs/ConfigDeleteTool.h>
#include <dsr_msgs/SetCtrlBoxDigitalOutput.h>
#include <dsr_msgs/GetCtrlBoxDigitalInput.h>
#include <dsr_msgs/SetToolDigitalOutput.h>
#include <dsr_msgs/GetToolDigitalInput.h>
#include <dsr_msgs/SetCtrlBoxAnalogOutput.h>
#include <dsr_msgs/GetCtrlBoxAnalogInput.h>
#include <dsr_msgs/SetCtrlBoxAnalogOutputType.h>
#include <dsr_msgs/SetCtrlBoxAnalogInputType.h>
#include <dsr_msgs/SetModbusOutput.h>
#include <dsr_msgs/GetModbusInput.h>
#include <dsr_msgs/ConfigCreateModbus.h>
#include <dsr_msgs/ConfigDeleteModbus.h>
#include <dsr_msgs/DrlPause.h>
#include <dsr_msgs/DrlStart.h>
#include <dsr_msgs/DrlStop.h>
#include <dsr_msgs/DrlResume.h>
#include "DRFL.h"
#include "DRFC.h"
#include "DRFS.h"

Include dependency graph for dsr_service_io_basic.cpp:

Go to the source code of this file.

Functions
int	get_analog_input (int nGpioChannel)
int	get_digital_input (int nGpioIndex)
int	get_tool_digital_input (int nGpioIndex)
int	main (int argc, char **argv)
int	movej (float fTargetPos[NUM_JOINT], float fTargetVel, float fTargetAcc, float fTargetTime=0.f, int nMoveMode=MOVE_MODE_ABSOLUTE, float fBlendingRadius=0.f, int nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, int nSyncType=0)
int	set_analog_input_type (int nGpioChannel, int nGpioMode)
int	set_analog_output (int nGpioChannel, float fGpioValue)
int	set_analog_output_type (int nGpioChannel, int nGpioMode)
int	set_digital_output (int nGpioIndex, bool bGpioValue)
void	SET_ROBOT (string id, string model)
int	set_tool_digital_output (int nGpioIndex, bool bGpioValue)
void	SigHandler (int sig)
void	thread_subscriber ()

Variables
string	ROBOT_ID = "dsr01"
string	ROBOT_MODEL = "m1013"

Function Documentation

int get_analog_input

(

int

nGpioChannel

)

Definition at line 231 of file dsr_service_io_basic.cpp.

int get_digital_input

(

int

nGpioIndex

)

Definition at line 139 of file dsr_service_io_basic.cpp.

int get_tool_digital_input

(

int

nGpioIndex

)

Definition at line 185 of file dsr_service_io_basic.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 330 of file dsr_service_io_basic.cpp.

int movej	(	float	fTargetPos[NUM_JOINT],
		float	fTargetVel,
		float	fTargetAcc,
		float	fTargetTime = 0.f,
		int	nMoveMode = MOVE_MODE_ABSOLUTE,
		float	fBlendingRadius = 0.f,
		int	nBlendingType = BLENDING_SPEED_TYPE_DUPLICATE,
		int	nSyncType = 0
	)

Definition at line 74 of file dsr_service_io_basic.cpp.

int set_analog_input_type	(	int	nGpioChannel,
		int	nGpioMode
	)

Definition at line 277 of file dsr_service_io_basic.cpp.

int set_analog_output	(	int	nGpioChannel,
		float	fGpioValue
	)

Definition at line 207 of file dsr_service_io_basic.cpp.

int set_analog_output_type	(	int	nGpioChannel,
		int	nGpioMode
	)

Definition at line 253 of file dsr_service_io_basic.cpp.

int set_digital_output	(	int	nGpioIndex,
		bool	bGpioValue
	)

Definition at line 115 of file dsr_service_io_basic.cpp.

void SET_ROBOT	(	string	id,
		string	model
	)

Definition at line 71 of file dsr_service_io_basic.cpp.

int set_tool_digital_output	(	int	nGpioIndex,
		bool	bGpioValue
	)

Definition at line 161 of file dsr_service_io_basic.cpp.

void SigHandler

(

int

sig

)

Definition at line 308 of file dsr_service_io_basic.cpp.

void thread_subscriber

(

)

Definition at line 301 of file dsr_service_io_basic.cpp.

Variable Documentation

string ROBOT_ID = "dsr01"

Definition at line 69 of file dsr_service_io_basic.cpp.

string ROBOT_MODEL = "m1013"

Definition at line 70 of file dsr_service_io_basic.cpp.