#include <iostream>
#include <memory>
#include <math.h>
#include <vector>
#include <string.h>
#include <map>
#include "kni_wrapper/kni_wrapper.h"
#include <sstream>

Include dependency graph for kni_wrapper.cpp:

Macros
#define	EXPORT_FCNS

Functions
DLLEXPORT int	allMotorsOff ()

DLLEXPORT int	allMotorsOn ()

DLLEXPORT int	calibrate (int axis)

DLLEXPORT int	clearMoveBuffers ()
	clears the movebuffers More...

DLLEXPORT int	closeGripper ()

DLLEXPORT int	deleteMovementFromStack (char *name, int index)

DLLEXPORT int	deleteMovementStack (char *name)
	deletes a movemnt stack More...

DLLEXPORT int	executeConnectedMovement (struct TMovement movement, struct TPos startPos, bool first, bool last)

DLLEXPORT int	executeMovement (struct TMovement *movement)

DLLEXPORT int	flushMoveBuffers ()
	flush all the movebuffers More...

int	getAxisFirmwareVersion (int axis, char value[])
	gets the axis firmware version and returns it in the value argument More...

DLLEXPORT int	getCurrentControllerType (int axis)

int	getDrive (int axis, int &value)

int	getEncoder (int axis, int &value)

DLLEXPORT int	getForce (int axis)
	set the current force More...

DLLEXPORT int	getNumberOfMotors ()
	returns the number of motors configured More...

DLLEXPORT int	getPosition (struct TPos *pos)
	gets a position More...

int	getVelocity (int axis, int &value)

int	getVersion (char value[])
	gets the controlboard firmware version and returns it in the value argument More...

DLLEXPORT int	initKatana (char configFile, char ipaddress)
	This initializes the Katana (communication etc) More...

int	IO_readInput (int inputNr, int &value)

DLLEXPORT int	IO_setOutput (char output, int value)

int	ModBusTCP_readWord (int address, int &value)
	reads a value from the register 'address' (if not connected, connect to the IP in katana.conf) More...

DLLEXPORT int	ModBusTCP_writeWord (int address, int value)

DLLEXPORT int	motorOff (int axis)

DLLEXPORT int	motorOn (int axis)

DLLEXPORT int	moveMot (int axis, int enc, int speed, int accel)

DLLEXPORT int	moveMotAndWait (int axis, int targetpos, int tolerance)

DLLEXPORT int	moveToPos (struct TPos *pos, int velocity, int acceleration)
	moves in IK More...

DLLEXPORT int	moveToPosEnc (int enc1, int enc2, int enc3, int enc4, int enc5, int enc6, int velocity, int acceleration, int tolerance, bool _wait)

DLLEXPORT int	moveToPosLin (struct TPos *targetPos, int velocity, int acceleration)
	moves in LM More...

DLLEXPORT int	openGripper ()

DLLEXPORT int	ping (int axis)

DLLEXPORT int	pushMovementToStack (struct TMovement movement, char name)

DLLEXPORT int	runThroughMovementStack (char *name, int loops)

DLLEXPORT int	sendSplineToMotor (int axis, int targetpos, int duration, int p0, int p1, int p2, int p3)

DLLEXPORT int	setCollisionDetection (int axis, bool state)

DLLEXPORT int	setCollisionParameters (int axis, int position, int velocity)

DLLEXPORT int	setControllerParameters (int axis, int ki, int kspeed, int kpos)

DLLEXPORT int	setForceLimit (int axis, int limit)

DLLEXPORT int	setGripper (bool hasGripper)

DLLEXPORT int	setMaxAccel (int axis, int acceleration)

DLLEXPORT int	setMaxVelocity (int axis, int vel)

DLLEXPORT int	setPositionCollisionLimit (int axis, int limit)

DLLEXPORT int	setVelocityCollisionLimit (int axis, int limit)

DLLEXPORT int	startSplineMovement (int contd, int exactflag)

DLLEXPORT int	unblock ()
	unblocks the robot after collision/instantstop More...

DLLEXPORT int	waitForMot (int axis, int targetpos, int tolerance)

Variables
byte	buffer [256]

static std::unique_ptr< CCdlSocket >	device

std::vector< int >	encoders

static std::unique_ptr< CLMBase >	katana

std::map< std::string, std::vector< TMovement > >	movements

int	numberOfMotors

byte	packet [32]

static std::unique_ptr< CCplSerialCRC >	protocol

byte	size = 0

Macro Definition Documentation

#define EXPORT_FCNS

Definition at line 15 of file kni_wrapper.cpp.

Function Documentation

DLLEXPORT int allMotorsOff ( )

Switches all axes off

Returns: returns -1 on failure, 1 if successful

Definition at line 149 of file kni_wrapper.cpp.

DLLEXPORT int allMotorsOn ( )

Put all axes into hold state

Returns: returns -1 on failure, 1 if successful

Definition at line 163 of file kni_wrapper.cpp.

DLLEXPORT int calibrate ( int axis )

closes the Katana session

Returns: returns -1 on failure, 1 if successful

Definition at line 63 of file kni_wrapper.cpp.

DLLEXPORT int clearMoveBuffers ( )

clears the movebuffers

Definition at line 655 of file kni_wrapper.cpp.

DLLEXPORT int closeGripper ( )

closes the gripper if available

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 195 of file kni_wrapper.cpp.

DLLEXPORT int deleteMovementFromStack	(	char *	name,
		int	index
	)

deletes a movement from the stack

Parameters

name	the name of the stack
index	the index of the movement to delete

Definition at line 359 of file kni_wrapper.cpp.

DLLEXPORT int deleteMovementStack ( char * name )

deletes a movemnt stack

Definition at line 396 of file kni_wrapper.cpp.

DLLEXPORT int executeConnectedMovement	(	struct TMovement *	movement,
		struct TPos *	startPos,
		bool	first,
		bool	last
	)

execute a connected movement

Parameters

movement	a TMovement struct to execute
startPos	a TPos struct with the start position, can be omitted if first=true
first	if this is the first of the connected movements (start at current pos)
last	if this is the last of the connected movements (wait for end of move)

Definition at line 496 of file kni_wrapper.cpp.

DLLEXPORT int executeMovement ( struct TMovement * movement )

execute a movement

Parameters

movement a TMovement struct to execute, starting from the current position

Definition at line 482 of file kni_wrapper.cpp.

DLLEXPORT int flushMoveBuffers ( )

flush all the movebuffers

Definition at line 281 of file kni_wrapper.cpp.

int getAxisFirmwareVersion	(	int	axis,
		char	value[]
	)

gets the axis firmware version and returns it in the value argument

Definition at line 719 of file kni_wrapper.cpp.

DLLEXPORT int getCurrentControllerType ( int axis )

set the current controller limit

Returns: 0 for position controller, 1 for current controller

Definition at line 855 of file kni_wrapper.cpp.

int getDrive	(	int	axis,
		int &	value
	)

gets the pwm and returns it in the value argument

Parameters

axis	The axis to send the command to

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 688 of file kni_wrapper.cpp.

int getEncoder	(	int	axis,
		int &	value
	)

gets the position and returns it in the value argument

Parameters

axis	The axis to send the command to

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 704 of file kni_wrapper.cpp.

DLLEXPORT int getForce ( int axis )

set the current force

Definition at line 842 of file kni_wrapper.cpp.

DLLEXPORT int getNumberOfMotors ( )

returns the number of motors configured

Definition at line 940 of file kni_wrapper.cpp.

DLLEXPORT int getPosition ( struct TPos * pos )

gets a position

Definition at line 295 of file kni_wrapper.cpp.

int getVelocity	(	int	axis,
		int &	value
	)

gets the velocity and returns it in the value argument

Parameters

axis	The axis to send the command to

Returns: returns -1 on failure, 1 if successful

Definition at line 672 of file kni_wrapper.cpp.

int getVersion ( char value[] )

gets the controlboard firmware version and returns it in the value argument

Definition at line 744 of file kni_wrapper.cpp.

DLLEXPORT int initKatana	(	char *	configFile,
		char *	ipaddress
	)

This initializes the Katana (communication etc)

Definition at line 39 of file kni_wrapper.cpp.

int IO_readInput	(	int	inputNr,
		int &	value
	)

reads an input from the digital I/O and returns it in the value argument

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 621 of file kni_wrapper.cpp.

DLLEXPORT int IO_setOutput	(	char	output,
		int	value
	)

sets an output of the digital I/Os

Parameters

ouputNr 1, or 2 for OutA or OutB

Returns: returns -1 on failure, 1 if successful

Definition at line 596 of file kni_wrapper.cpp.

int ModBusTCP_readWord	(	int	address,
		int &	value
	)

reads a value from the register 'address' (if not connected, connect to the IP in katana.conf)

Returns: returns -1 on failure, the read value if successful

Definition at line 570 of file kni_wrapper.cpp.

DLLEXPORT int ModBusTCP_writeWord	(	int	address,
		int	value
	)

writes a value to the register 'address' (if not connected, connect to the IP in katana.conf)

Returns: returns -1 on failure, 1 if successful

Definition at line 546 of file kni_wrapper.cpp.

DLLEXPORT int motorOff ( int axis )

Switches an axis off

Parameters

axis	The axis to send the command to

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 135 of file kni_wrapper.cpp.

DLLEXPORT int motorOn ( int axis )

Switches an axis on

Parameters

axis	The axis to send the command to

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 121 of file kni_wrapper.cpp.

DLLEXPORT int moveMot	(	int	axis,
		int	enc,
		int	speed,
		int	accel
	)

PTP movement

Parameters

axis	The axis to send the command to
enc	the target position

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 77 of file kni_wrapper.cpp.

DLLEXPORT int moveMotAndWait	(	int	axis,
		int	targetpos,
		int	tolerance
	)

calls MoveMot() and WaitForMot()

Parameters

axis	The axis to send the command to
tolerance	in encoder values (0 means wait until reached)

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, ERR_RANGE_MISMATCH if the target position is out of range 1 if successful

Definition at line 106 of file kni_wrapper.cpp.

DLLEXPORT int moveToPos	(	struct TPos *	pos,
		int	velocity,
		int	acceleration
	)

moves in IK

Definition at line 309 of file kni_wrapper.cpp.

DLLEXPORT int moveToPosEnc	(	int	enc1,
		int	enc2,
		int	enc3,
		int	enc4,
		int	enc5,
		int	enc6,
		int	velocity,
		int	acceleration,
		int	tolerance,
		bool	_wait
	)

Moves all axes to a target encoder value

Parameters

enc	(encX) the target positions
tolerance	in encoders. sent unscaled to axis and handled there. WaitForMot (and MoveMOtAndWait) checks the tolerance though.
wait	wait for the movement to finish

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 223 of file kni_wrapper.cpp.

DLLEXPORT int moveToPosLin	(	struct TPos *	targetPos,
		int	velocity,
		int	acceleration
	)

moves in LM

Definition at line 325 of file kni_wrapper.cpp.

DLLEXPORT int openGripper ( )

opens the gripper if available

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 209 of file kni_wrapper.cpp.

DLLEXPORT int ping ( int axis )

checks the alive state of an axis

Parameters

axis	0 = get all axes

Returns: If axis 0: 1 if all axes are present, negative value is the inverted number of the first axis found failing, 0 if no data is available. If axis != 0: 1 if heartbeat found, -1 if failed, 0 if no data is available.

Definition at line 954 of file kni_wrapper.cpp.

DLLEXPORT int pushMovementToStack	(	struct TMovement *	movement,
		char *	name
	)

pushes a movement onto a stack

Parameters

movement	a movement structure filled with position and movement parameters
name	the name of the stack to push it onto

Definition at line 341 of file kni_wrapper.cpp.

DLLEXPORT int runThroughMovementStack	(	char *	name,
		int	loops
	)

Runs through the movement stack, executes the movements

Parameters

name	the name of the stack to run through
loops	the number of loops to run

Definition at line 426 of file kni_wrapper.cpp.

DLLEXPORT int sendSplineToMotor	(	int	axis,
		int	targetpos,
		int	duration,
		int	p0,
		int	p1,
		int	p2,
		int	p3
	)

sends a single polynomial to an axis (G)

Parameters

axis	The axis to send the command to

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, ERR_RANGE_MISMATCH if the target position is out of range 1 if successful

Definition at line 252 of file kni_wrapper.cpp.

DLLEXPORT int setCollisionDetection	(	int	axis,
		bool	state
	)

sets the collision detection on the axes.

Parameters

state	true = on
axis	0 = set all axes

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 768 of file kni_wrapper.cpp.

DLLEXPORT int setCollisionParameters	(	int	axis,
		int	position,
		int	velocity
	)

sets the collision parameters this function internally calls setPositionCollisionLimit and setVelocityCollisionLimit

Parameters

axis	0 = set all axes
position	range 1-10
velocity	range 1-10

Definition at line 813 of file kni_wrapper.cpp.

DLLEXPORT int setControllerParameters	(	int	axis,
		int	ki,
		int	kspeed,
		int	kpos
	)

sets the controller parameters

Parameters

axis	0 = set all axes

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 882 of file kni_wrapper.cpp.

DLLEXPORT int setForceLimit	(	int	axis,
		int	limit
	)

set the force limit

Parameters

axis	0 = all axes
limit	limit in percent

Definition at line 828 of file kni_wrapper.cpp.

DLLEXPORT int setGripper ( bool hasGripper )

sets or unsets whether the Katana has a Gripper

Parameters

hasGripper set to true if a gripper is present. Default at startup: false

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 177 of file kni_wrapper.cpp.

DLLEXPORT int setMaxAccel	(	int	axis,
		int	acceleration
	)

sets the maximum acceleration (allowed values are only 1 and 2)

Parameters

axis	0 = set all axes

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 918 of file kni_wrapper.cpp.

DLLEXPORT int setMaxVelocity	(	int	axis,
		int	vel
	)

sets the maximum velocity

Parameters

axis	0 = set all axes
vel	1-180 are valid

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, 1 if successful

Definition at line 896 of file kni_wrapper.cpp.

DLLEXPORT int setPositionCollisionLimit	(	int	axis,
		int	limit
	)

set the position collision limit

Parameters

axis	0 = all axes

Definition at line 785 of file kni_wrapper.cpp.

DLLEXPORT int setVelocityCollisionLimit	(	int	axis,
		int	limit
	)

set the velocity collision limit

Parameters

axis	0 = all axes

Definition at line 799 of file kni_wrapper.cpp.

DLLEXPORT int startSplineMovement	(	int	contd,
		int	exactflag
	)

starts the linear movement (G+128)

Returns: returns -1 on failure, 1 if successful

Definition at line 266 of file kni_wrapper.cpp.

DLLEXPORT int unblock ( )

unblocks the robot after collision/instantstop

Definition at line 868 of file kni_wrapper.cpp.

DLLEXPORT int waitForMot	(	int	axis,
		int	targetpos,
		int	tolerance
	)

waits for a motor

Parameters

axis	The axis to wait for
targetpos	(only relevant if mode is 0)
tolerance	(only relevant if mode is 0) in encoder values

Returns: returns ERR_FAILURE on failure, ERR_INVALID_ARGUMENT if an argument is out of range, ERR_STATE_MISMATCH if the command was given to a wrong state, ERR_RANGE_MISMATCH if the target position is out of range 1 if successful

Definition at line 92 of file kni_wrapper.cpp.

Variable Documentation

byte buffer[256]

Definition at line 34 of file kni_wrapper.cpp.

std::unique_ptr<CCdlSocket> device

static

Definition at line 23 of file kni_wrapper.cpp.

std::vector<int> encoders

Definition at line 29 of file kni_wrapper.cpp.

std::unique_ptr<CLMBase> katana

static

Definition at line 22 of file kni_wrapper.cpp.

std::map< std::string, std::vector<TMovement> > movements

Definition at line 27 of file kni_wrapper.cpp.

int numberOfMotors

Definition at line 31 of file kni_wrapper.cpp.

byte packet[32]

Definition at line 33 of file kni_wrapper.cpp.

std::unique_ptr<CCplSerialCRC> protocol

static

Definition at line 24 of file kni_wrapper.cpp.

byte size = 0

Definition at line 35 of file kni_wrapper.cpp.

Macros

Functions

Variables

Macro Definition Documentation

Function Documentation

Variable Documentation