FanucPostProcessor class. More...

#include <post_processor.hpp>

Public Types
enum	MovementType { JOINT, LINEAR }

enum	Permissions { READ_WRITE, READ }

typedef std::string	Program

typedef std::string	ProgramName

enum	SpeedType { MM_SEC, CM_SEC, M_SEC, MM_MIN, CM_MIN, M_MIN, PERCENTAGE }

Public Member Functions
void	appendCall (const std::string program_name)

void	appendComment (const std::string comment)

void	appendCustomCommand (const std::string command)

void	appendDataMonitorStart (const unsigned id)

void	appendDataMonitorStop ()

void	appendDigitalOutput (const unsigned digital_out_id, const bool state)

void	appendDigitalOutput (const unsigned digital_out_id, const double pulse_time)

void	appendEmptyLine ()

void	appendEndFor ()

void	appendFor (const unsigned reg_id, const std::string start, const std::string stop)

void	appendFor (const unsigned reg_id, const unsigned start, const unsigned stop)

void	appendGroupOutput (const unsigned id, const unsigned value)

void	appendJumpLabel (const unsigned id)

void	appendLabel (const unsigned id)

void	appendPose (FanucPose &pose)

void	appendPoseId (FanucPose &pose)

void	appendRun (const std::string program_name)

void	appendSetRegister (const unsigned r_id, const double value)

void	appendUFrame (const unsigned uf_id)

void	appendUTool (const unsigned ut_id)

void	appendWait (const double time)

void	appendWait (const unsigned digital_in_id, bool state)

void	clearProgram ()

	FanucPostProcessor ()
	Default Constructor. More...

unsigned	generatePrograms (std::vector< std::pair< ProgramName, Program >> &output_programs, const unsigned lines_per_program=0)

bool	getPoseFromId (const unsigned pose_id, FanucPose &pose)

void	setApplicative (const std::string appl)

void	setMemorySize (const unsigned size)

void	setPermissions (const FanucPostProcessor::Permissions perms)

void	setProgramComment (const std::string comment)

void	setProgramName (std::string name)

void	uploadToFtp (const std::vector< std::pair< ProgramName, Program >> programs, const std::string ip_address, const std::string port_number="21", const std::string username="", const std::string password="")

void	useLineNumbers (bool line_numbers)

	~FanucPostProcessor ()

Private Member Functions
std::string	permissionsToString (Permissions perm)

void	prependLineNumber (std::string &line, const unsigned number)

bool	tweakProgramName (ProgramName &name, const unsigned number)

Private Attributes
std::string	applicative_

std::vector< std::shared_ptr< FanucCommand > >	commands_

unsigned	for_count_

std::vector< unsigned >	labels_id_

bool	line_numbers_

FanucPostProcessor::Permissions	permissions_

std::vector< FanucPose >	poses_

std::string	program_comment_

std::string	program_name_

const unsigned	program_name_max_size_ = 36

Detailed Description

FanucPostProcessor class.

Definition at line 28 of file post_processor.hpp.

Member Typedef Documentation

typedef std::string fanuc_post_processor::FanucPostProcessor::Program

Definition at line 62 of file post_processor.hpp.

typedef std::string fanuc_post_processor::FanucPostProcessor::ProgramName

Writes the program content into a string.

Parameters

[out]	output_programs	this vector of pairs (program name, program) contains the programs
[in]	lines_per_program	the maximum number of lines in a program

Returns: The number of programs generated, zero meaning error Multiple programs are generated depending on the lines_per_program limit, if set to 0 only one program will be generated

Definition at line 61 of file post_processor.hpp.

Member Enumeration Documentation

enum fanuc_post_processor::FanucPostProcessor::MovementType

Enumerator
JOINT
LINEAR

Definition at line 31 of file post_processor.hpp.

enum fanuc_post_processor::FanucPostProcessor::Permissions

Enumerator
READ_WRITE
READ

Definition at line 41 of file post_processor.hpp.

enum fanuc_post_processor::FanucPostProcessor::SpeedType

Enumerator
MM_SEC
CM_SEC
M_SEC
MM_MIN
CM_MIN
M_MIN
PERCENTAGE

Definition at line 36 of file post_processor.hpp.

Constructor & Destructor Documentation

fanuc_post_processor::FanucPostProcessor::FanucPostProcessor ( )

Default Constructor.

Definition at line 6 of file post_processor.cpp.

fanuc_post_processor::FanucPostProcessor::~FanucPostProcessor ( )

Definition at line 16 of file post_processor.cpp.

Member Function Documentation

void fanuc_post_processor::FanucPostProcessor::appendCall ( const std::string program_name )

Call a program

Parameters

[in] program_name

Warning: Transferring the program on the robot may fail if the program specified does not exist

Definition at line 425 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendComment ( const std::string comment )

Add a comment in the program, starting with an exclamation point

Parameters

[in] comment

Definition at line 317 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendCustomCommand ( const std::string command )

Append a custom command, the line numbers and end semicolon are automatically added

Definition at line 505 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendDataMonitorStart ( const unsigned id )

Start data monitor

Parameters

[in] id

Definition at line 462 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendDataMonitorStop ( )

Stops data monitor

Definition at line 469 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendDigitalOutput	(	const unsigned	digital_out_id,
		const bool	state
	)

Set a digital output value to either TRUE or FALSE

Parameters

[in]	digital_out_id
[in]	state

Definition at line 329 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendDigitalOutput	(	const unsigned	digital_out_id,
		const double	pulse_time
	)

Set a digital output pulse time

Parameters

[in]	digital_out_id
[in]	pulse_time

Note: The pulse time is in seconds

Definition at line 338 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendEmptyLine ( )

Add an empty line

Definition at line 323 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendEndFor ( )

Stop a for loop, fails if no for loop was opened

Note: Does NOT work if multiple programs are generated

Definition at line 495 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendFor	(	const unsigned	reg_id,
		const std::string	start,
		const std::string	stop
	)

Append a for loop, start and stop condition must be valid strings

Parameters

reg_id	register to store the loop increment
start	value
stop	value

Note: Does NOT work if multiple programs are generated

Definition at line 475 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendFor	(	const unsigned	reg_id,
		const unsigned	start,
		const unsigned	stop
	)

For loop in an integer range, eg: FOR R[1]=1 TO 8;

Parameters

reg_id	register to store the loop increment
start	value
stop	value

Note: Does NOT work if multiple programs are generated

Definition at line 485 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendGroupOutput	(	const unsigned	id,
		const unsigned	value
	)

Set a group output to a value

Parameters

[in]	id
[in]	value

Definition at line 399 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendJumpLabel ( const unsigned id )

Jump to an existing label, fails if the label doesn't exist

Parameters

[in] id

Note: Does NOT work if multiple programs are generated

Definition at line 454 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendLabel ( const unsigned id )

Add a label, each label ID can only be added once

Parameters

[in] id

Note: Does NOT work if multiple programs are generated

Definition at line 441 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendPose ( FanucPose & pose )

Add a Fanuc pose

Parameters

[in] pose

Note: The pose_id_ member of the pose will be set by this function, first pose has ID == 1

Definition at line 274 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendPoseId ( FanucPose & pose )

Add a Fanuc pose by using an existing ID

Parameters

[in] pose the pose_id_ field will be used to determine to which pose it refers

Returns: True if successful, false otherwise

Note: Look at appendPose to know how ID are set; The groups_ field will be ignored and cleared

Definition at line 293 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendRun ( const std::string program_name )

Run a program

Parameters

[in] program_name

Warning: Transferring the program on the robot may fail if the program specified does not exist

Definition at line 433 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendSetRegister	(	const unsigned	r_id,
		const double	value
	)

Set a register to a value

Parameters

[in]	r_id
[in]	value

Definition at line 409 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendUFrame ( const unsigned uf_id )

Append a UserFrame instruction. From 0 to 9

Parameters

[in] uf_id

Definition at line 379 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendUTool ( const unsigned ut_id )

Append a UserTool instruction. From 1 to 9

Parameters

[in] ut_id

Definition at line 389 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendWait ( const double time )

Add a waiting time in the program

Parameters

[in] time

Note: The duration is in seconds

Definition at line 355 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::appendWait	(	const unsigned	digital_in_id,
		bool	state
	)

Wait for a Digital Input to be triggered

Parameters

[in]	digital_in_id
[in]	state

Definition at line 369 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::clearProgram ( )

Definition at line 193 of file post_processor.cpp.

unsigned fanuc_post_processor::FanucPostProcessor::generatePrograms	(	std::vector< std::pair< ProgramName, Program >> &	output_programs,
		const unsigned	lines_per_program = `0`
	)

Definition at line 20 of file post_processor.cpp.

bool fanuc_post_processor::FanucPostProcessor::getPoseFromId	(	const unsigned	pose_id,
		FanucPose &	pose
	)

Definition at line 511 of file post_processor.cpp.

std::string fanuc_post_processor::FanucPostProcessor::permissionsToString ( Permissions perm )

inlineprivate

Definition at line 308 of file post_processor.hpp.

void fanuc_post_processor::FanucPostProcessor::prependLineNumber	(	std::string &	line,
		const unsigned	number
	)

private

Definition at line 528 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::setApplicative ( const std::string appl )

Allows to specify an application for specific instructions (eg: ArcTool)

Parameters

[in] appl

Definition at line 269 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::setMemorySize ( const unsigned size )

This is computed by the Fanuc ASCII upload compiled, it is not mandatory to set it

Parameters

[in] size

void fanuc_post_processor::FanucPostProcessor::setPermissions ( const FanucPostProcessor::Permissions perms )

Set the program permissions on the robot

Parameters

[in] perms

Definition at line 264 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::setProgramComment ( const std::string comment )

Allows to set the program comment

Parameters

[in] comment

Returns: True if successful, false otherwise

Note: The comment string maximum size is 16, characters after are truncated by the Fanuc converter

Definition at line 259 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::setProgramName ( std::string name )

Allows to set the program name in the header

Parameters

[in] name without the file extension (.ls)

Returns: True if successful, false otherwise

Note: The program name maximum length is 36 characters

Definition at line 246 of file post_processor.cpp.

bool fanuc_post_processor::FanucPostProcessor::tweakProgramName	(	ProgramName &	name,
		const unsigned	number
	)

private

Definition at line 553 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::uploadToFtp	(	const std::vector< std::pair< ProgramName, Program >>	programs,
		const std::string	ip_address,
		const std::string	port_number = `"21"`,
		const std::string	username = `""`,
		const std::string	password = `""`
	)

Upload a LS/TP program to a Fanuc robot FTP

Parameters

[in]	programs	contains the program names and content to be uploaded,
[in]	ip_address	the IP address of the Fanuc FTP
[in]	port_number	the port number of the FTP
[in]	username	should be empty if anonymous login
[in]	password	should be empty if anonymous login

Definition at line 205 of file post_processor.cpp.

void fanuc_post_processor::FanucPostProcessor::useLineNumbers ( bool line_numbers )

Definition at line 200 of file post_processor.cpp.

Member Data Documentation

std::string fanuc_post_processor::FanucPostProcessor::applicative_

private

Definition at line 324 of file post_processor.hpp.

std::vector<std::shared_ptr<FanucCommand> > fanuc_post_processor::FanucPostProcessor::commands_

private

Definition at line 326 of file post_processor.hpp.

unsigned fanuc_post_processor::FanucPostProcessor::for_count_

private

Counts the number of for loops opened

Definition at line 335 of file post_processor.hpp.

std::vector<unsigned> fanuc_post_processor::FanucPostProcessor::labels_id_

private

Definition at line 328 of file post_processor.hpp.

bool fanuc_post_processor::FanucPostProcessor::line_numbers_

private

Definition at line 330 of file post_processor.hpp.

FanucPostProcessor::Permissions fanuc_post_processor::FanucPostProcessor::permissions_

private

Definition at line 322 of file post_processor.hpp.

std::vector<FanucPose> fanuc_post_processor::FanucPostProcessor::poses_

private

Vector containing the poses of our trajectory Not necessarily ordered!

Definition at line 341 of file post_processor.hpp.

std::string fanuc_post_processor::FanucPostProcessor::program_comment_

private

Definition at line 320 of file post_processor.hpp.

std::string fanuc_post_processor::FanucPostProcessor::program_name_

private

Definition at line 318 of file post_processor.hpp.

const unsigned fanuc_post_processor::FanucPostProcessor::program_name_max_size_ = 36

private

Definition at line 306 of file post_processor.hpp.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation