Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | List of all members
UxbusCmd Class Reference

#include <uxbus_cmd.h>

Inheritance diagram for UxbusCmd:
Inheritance graph
[legend]

Public Member Functions

int cgpio_delay_set_digital (int ionum, int value, float delay_sec)
 
int cgpio_get_analog1 (float *value)
 
int cgpio_get_analog2 (float *value)
 
int cgpio_get_auxdigit (int *value)
 
int cgpio_get_state (int *state, int *digit_io, float *analog, int *input_conf, int *output_conf, int *input_conf2=NULL, int *output_conf2=NULL)
 
int cgpio_position_set_analog (int ionum, float value, float xyz[3], float tol_r)
 
int cgpio_position_set_digital (int ionum, int value, float xyz[3], float tol_r)
 
int cgpio_set_analog1 (float value)
 
int cgpio_set_analog2 (float value)
 
int cgpio_set_auxdigit (int ionum, int value)
 
int cgpio_set_infun (int ionum, int fun)
 
int cgpio_set_outfun (int ionum, int fun)
 
int check_verification (int *rx_data)
 
int clean_conf (void)
 
int clean_err (void)
 
int clean_war (void)
 
virtual void close (void)
 
int cnter_plus (void)
 
int cnter_reset (void)
 
int config_io_stop_reset (int io_type, int val)
 
int get_cmdnum (int *rx_data)
 
int get_err_code (int *rx_data)
 
int get_fk (float angles[7], float pose[6])
 
int get_hd_types (int *rx_data)
 
int get_ik (float pose[6], float angles[7])
 
int get_joint_pose (float angles[7])
 
int get_joint_tau (float jnt_taus[7])
 
int get_pose_offset (float pose1[6], float pose2[6], float offset[6], int orient_type_in=0, int orient_type_out=0)
 
int get_position_aa (float pose[6])
 
int get_reduced_mode (int *rx_data)
 
int get_reduced_states (int *on, int xyz_list[6], float *tcp_speed, float *joint_speed, float jrange_rad[14]=NULL, int *fense_is_on=NULL, int *collision_rebound_is_on=NULL, int length=21)
 
int get_report_tau_or_i (int *rx_data)
 
int get_robot_sn (unsigned char rx_data[40])
 
int get_safe_level (int *level)
 
int get_state (int *rx_data)
 
int get_tcp_pose (float pose[6])
 
int get_traj_rw_status (int *rx_data)
 
int get_version (unsigned char rx_data[40])
 
int gripper_addr_r16 (int addr, float *value)
 
int gripper_addr_r32 (int addr, float *value)
 
int gripper_addr_w16 (int addr, float value)
 
int gripper_addr_w32 (int addr, float value)
 
int gripper_clean_err (void)
 
int gripper_get_errcode (int rx_data[2])
 
int gripper_get_pos (float *pulse)
 
int gripper_modbus_clean_err (void)
 
int gripper_modbus_get_errcode (int *err)
 
int gripper_modbus_get_pos (float *pulse)
 
int gripper_modbus_r16s (int addr, int len, unsigned char *rx_data)
 
int gripper_modbus_set_en (int value)
 
int gripper_modbus_set_mode (int value)
 
int gripper_modbus_set_pos (float pulse)
 
int gripper_modbus_set_posspd (float speed)
 
int gripper_modbus_set_zero (void)
 
int gripper_modbus_w16s (int addr, float value, int len)
 
int gripper_set_en (int value)
 
int gripper_set_mode (int value)
 
int gripper_set_pos (float pulse)
 
int gripper_set_posspd (float speed)
 
int gripper_set_zero (void)
 
int is_joint_limit (float joint[7], int *value)
 
virtual int is_ok (void)
 
int is_tcp_limit (float pose[6], int *value)
 
int load_traj (char filename[81])
 
int motion_en (int id, int value)
 
int move_circle (float pose1[6], float pose2[6], float mvvelo, float mvacc, float mvtime, float percent)
 
int move_gohome (float mvvelo, float mvacc, float mvtime)
 
int move_joint (float mvjoint[7], float mvvelo, float mvacc, float mvtime)
 
int move_jointb (float mvjoint[7], float mvvelo, float mvacc, float mvradii)
 
int move_line (float mvpose[6], float mvvelo, float mvacc, float mvtime)
 
int move_line_aa (float mvpose[6], float mvvelo, float mvacc, float mvtime, int mvcoord=0, int relative=0)
 
int move_line_tool (float mvpose[6], float mvvelo, float mvacc, float mvtime)
 
int move_lineb (float mvpose[6], float mvvelo, float mvacc, float mvtime, float mvradii)
 
int move_servo_cart_aa (float mvpose[6], float mvvelo, float mvacc, int tool_coord=0, int relative=0)
 
int move_servo_cartesian (float mvpose[6], float mvvelo, float mvacc, float mvtime)
 
int move_servoj (float mvjoint[7], float mvvelo, float mvacc, float mvtime)
 
int playback_traj (int times, int spdx=1)
 
int playback_traj_old (int times)
 
int reload_dynamics (void)
 
int save_conf (void)
 
int save_traj (char filename[81])
 
int servo_addr_r16 (int id, int addr, float *value)
 
int servo_addr_r32 (int id, int addr, float *value)
 
int servo_addr_w16 (int id, int addr, float value)
 
int servo_addr_w32 (int id, int addr, float value)
 
int servo_get_dbmsg (int rx_data[16])
 
int servo_set_zero (int id)
 
int set_brake (int axis, int en)
 
int set_collis_reb (int on_off)
 
int set_collis_sens (int value)
 
int set_collision_tool_model (int tool_type, int n=0, float *argv=NULL)
 
int set_fense_on (int on_off)
 
int set_gravity_dir (float gravity_dir[3])
 
int set_joint_jerk (float jerk)
 
int set_joint_maxacc (float maxacc)
 
int set_modbus_baudrate (int baud)
 
int set_modbus_timeout (int value)
 
int set_mode (int value)
 
int set_record_traj (int value)
 
int set_reduced_jointspeed (float jspd_rad)
 
int set_reduced_jrange (float jrange_rad[14])
 
int set_reduced_linespeed (float lspd_mm)
 
int set_reduced_mode (int on_off)
 
int set_report_tau_or_i (int tau_or_i)
 
int set_safe_level (int level)
 
int set_self_collision_detection (int on_off)
 
int set_servot (float jnt_taus[7])
 
int set_simulation_robot (int on_off)
 
int set_state (int value)
 
int set_tcp_jerk (float jerk)
 
int set_tcp_load (float mass, float load_offset[3])
 
int set_tcp_maxacc (float maxacc)
 
int set_tcp_offset (float pose_offset[6])
 
int set_teach_sens (int value)
 
int set_timeout (float timeout)
 
int set_world_offset (float pose_offset[6])
 
int set_xyz_limits (int xyz_list[6])
 
int shutdown_system (int value)
 
int sleep_instruction (float sltime)
 
int tgpio_addr_r16 (int addr, float *value)
 
int tgpio_addr_r32 (int addr, float *value)
 
int tgpio_addr_w16 (int addr, float value)
 
int tgpio_addr_w32 (int addr, float value)
 
int tgpio_delay_set_digital (int ionum, int value, float delay_sec)
 
int tgpio_get_analog1 (float *value)
 
int tgpio_get_analog2 (float *value)
 
int tgpio_get_digital (int *io1, int *io2)
 
int tgpio_position_set_digital (int ionum, int value, float xyz[3], float tol_r)
 
int tgpio_set_digital (int ionum, int value)
 
int tgpio_set_modbus (unsigned char *send_data, int length, unsigned char *recv_data)
 
 UxbusCmd (void)
 
int vc_set_jointv (float jnt_v[7], int jnt_sync)
 
int vc_set_linev (float line_v[6], int coord)
 
 ~UxbusCmd (void)
 

Public Attributes

bool state_is_ready
 

Private Member Functions

virtual int check_xbus_prot (unsigned char *data, int funcode)
 
int get_nfp32 (int funcode, float *rx_data, int num)
 
int get_nu16 (int funcode, int *rx_data, int num)
 
int get_nu8 (int funcode, int *rx_data, int num)
 
int get_nu8 (int funcode, unsigned char *rx_data, int num)
 
int is_nfp32 (int funcode, float datas[], int txn, int *value)
 
virtual int send_pend (int funcode, int num, int timeout, unsigned char *rx_data)
 
virtual int send_xbus (int funcode, unsigned char *txdata, int num)
 
int set_nfp32 (int funcode, float *datas, int num)
 
int set_nfp32_with_bytes (int funcode, float *datas, int num, char *additional, int n)
 
int set_nint32 (int funcode, int *datas, int num)
 
int set_nu16 (int funcode, int *datas, int num)
 
int set_nu8 (int funcode, int *datas, int num)
 
int set_nu8_char (int funcode, char *datas, int num)
 
int swop_nfp32 (int funcode, float tx_datas[], int txn, float *rx_data, int rxn)
 

Private Attributes

int GET_TIMEOUT_ = UXBUS_CONF::GET_TIMEOUT
 
std::mutex mutex_
 
int SET_TIMEOUT_ = UXBUS_CONF::SET_TIMEOUT
 

Detailed Description

Definition at line 45 of file uxbus_cmd.h.

Constructor & Destructor Documentation

UxbusCmd::UxbusCmd ( void  )

Definition at line 22 of file uxbus_cmd.cc.

UxbusCmd::~UxbusCmd ( void  )

Definition at line 26 of file uxbus_cmd.cc.

Member Function Documentation

int UxbusCmd::cgpio_delay_set_digital ( int  ionum,
int  value,
float  delay_sec 
)

Definition at line 1092 of file uxbus_cmd.cc.

int UxbusCmd::cgpio_get_analog1 ( float *  value)

Definition at line 936 of file uxbus_cmd.cc.

int UxbusCmd::cgpio_get_analog2 ( float *  value)

Definition at line 942 of file uxbus_cmd.cc.

int UxbusCmd::cgpio_get_auxdigit ( int *  value)

Definition at line 933 of file uxbus_cmd.cc.

int UxbusCmd::cgpio_get_state ( int *  state,
int *  digit_io,
float *  analog,
int *  input_conf,
int *  output_conf,
int *  input_conf2 = NULL,
int *  output_conf2 = NULL 
)

　get controler gpio all state infomation UxbusCmd::cgpio_get_state

Parameters
state[description]
digit_io[digital input functional gpio state, digital input configuring gpio state, digital output functional gpio state, digital output configuring gpio state]
analog[analog-1 input value, analog-2 input value, analog-1 output value, analog-2 output value]
input_conf[digital(0-7) input functional info]
output_conf[digital(0-7) output functional info]
input_conf2[digital(8-15) input functional info]
output_conf2[digital(8-15) output functional info]
Returns
[description]

Definition at line 1007 of file uxbus_cmd.cc.

int UxbusCmd::cgpio_position_set_analog ( int  ionum,
float  value,
float  xyz[3],
float  tol_r 
)

Definition at line 1133 of file uxbus_cmd.cc.

int UxbusCmd::cgpio_position_set_digital ( int  ionum,
int  value,
float  xyz[3],
float  tol_r 
)

Definition at line 1119 of file uxbus_cmd.cc.

int UxbusCmd::cgpio_set_analog1 ( float  value)

Definition at line 969 of file uxbus_cmd.cc.

int UxbusCmd::cgpio_set_analog2 ( float  value)

Definition at line 974 of file uxbus_cmd.cc.

int UxbusCmd::cgpio_set_auxdigit ( int  ionum,
int  value 
)

Definition at line 948 of file uxbus_cmd.cc.

int UxbusCmd::cgpio_set_infun ( int  ionum,
int  fun 
)

Definition at line 979 of file uxbus_cmd.cc.

int UxbusCmd::cgpio_set_outfun ( int  ionum,
int  fun 
)

Definition at line 983 of file uxbus_cmd.cc.

int UxbusCmd::check_verification ( int *  rx_data)

Definition at line 202 of file uxbus_cmd.cc.

int UxbusCmd::check_xbus_prot ( unsigned char *  data,
int  funcode 
)
privatevirtual

Reimplemented in UxbusCmdSer, and UxbusCmdTcp.

Definition at line 28 of file uxbus_cmd.cc.

int UxbusCmd::clean_conf ( void  )

Definition at line 510 of file uxbus_cmd.cc.

int UxbusCmd::clean_err ( void  )

Definition at line 332 of file uxbus_cmd.cc.

int UxbusCmd::clean_war ( void  )

Definition at line 337 of file uxbus_cmd.cc.

void UxbusCmd::close ( void  )
virtual

Reimplemented in UxbusCmdSer, and UxbusCmdTcp.

Definition at line 36 of file uxbus_cmd.cc.

int UxbusCmd::cnter_plus ( void  )

Definition at line 284 of file uxbus_cmd.cc.

int UxbusCmd::cnter_reset ( void  )

Definition at line 280 of file uxbus_cmd.cc.

int UxbusCmd::config_io_stop_reset ( int  io_type,
int  val 
)

Definition at line 1148 of file uxbus_cmd.cc.

int UxbusCmd::get_cmdnum ( int *  rx_data)

Definition at line 315 of file uxbus_cmd.cc.

int UxbusCmd::get_err_code ( int *  rx_data)

Definition at line 319 of file uxbus_cmd.cc.

int UxbusCmd::get_fk ( float  angles[7],
float  pose[6] 
)

Definition at line 530 of file uxbus_cmd.cc.

int UxbusCmd::get_hd_types ( int *  rx_data)

Definition at line 323 of file uxbus_cmd.cc.

int UxbusCmd::get_ik ( float  pose[6],
float  angles[7] 
)

Definition at line 526 of file uxbus_cmd.cc.

int UxbusCmd::get_joint_pose ( float  angles[7])

Definition at line 522 of file uxbus_cmd.cc.

int UxbusCmd::get_joint_tau ( float  jnt_taus[7])

Definition at line 436 of file uxbus_cmd.cc.

int UxbusCmd::get_nfp32 ( int  funcode,
float *  rx_data,
int  num 
)
private

Definition at line 137 of file uxbus_cmd.cc.

int UxbusCmd::get_nu16 ( int  funcode,
int *  rx_data,
int  num 
)
private

Definition at line 103 of file uxbus_cmd.cc.

int UxbusCmd::get_nu8 ( int  funcode,
int *  rx_data,
int  num 
)
private

Definition at line 77 of file uxbus_cmd.cc.

int UxbusCmd::get_nu8 ( int  funcode,
unsigned char *  rx_data,
int  num 
)
private

Definition at line 85 of file uxbus_cmd.cc.

int UxbusCmd::get_pose_offset ( float  pose1[6],
float  pose2[6],
float  offset[6],
int  orient_type_in = 0,
int  orient_type_out = 0 
)

Definition at line 1035 of file uxbus_cmd.cc.

int UxbusCmd::get_position_aa ( float  pose[6])

Definition at line 1055 of file uxbus_cmd.cc.

int UxbusCmd::get_reduced_mode ( int *  rx_data)

Definition at line 252 of file uxbus_cmd.cc.

int UxbusCmd::get_reduced_states ( int *  on,
int  xyz_list[6],
float *  tcp_speed,
float *  joint_speed,
float  jrange_rad[14] = NULL,
int *  fense_is_on = NULL,
int *  collision_rebound_is_on = NULL,
int  length = 21 
)

Definition at line 256 of file uxbus_cmd.cc.

int UxbusCmd::get_report_tau_or_i ( int *  rx_data)

Definition at line 1158 of file uxbus_cmd.cc.

int UxbusCmd::get_robot_sn ( unsigned char  rx_data[40])

Definition at line 198 of file uxbus_cmd.cc.

int UxbusCmd::get_safe_level ( int *  level)

Definition at line 445 of file uxbus_cmd.cc.

int UxbusCmd::get_state ( int *  rx_data)

Definition at line 311 of file uxbus_cmd.cc.

int UxbusCmd::get_tcp_pose ( float  pose[6])

Definition at line 518 of file uxbus_cmd.cc.

int UxbusCmd::get_traj_rw_status ( int *  rx_data)

Definition at line 233 of file uxbus_cmd.cc.

int UxbusCmd::get_version ( unsigned char  rx_data[40])

Definition at line 194 of file uxbus_cmd.cc.

int UxbusCmd::gripper_addr_r16 ( int  addr,
float *  value 
)

Definition at line 558 of file uxbus_cmd.cc.

int UxbusCmd::gripper_addr_r32 ( int  addr,
float *  value 
)

Definition at line 587 of file uxbus_cmd.cc.

int UxbusCmd::gripper_addr_w16 ( int  addr,
float  value 
)

Definition at line 545 of file uxbus_cmd.cc.

int UxbusCmd::gripper_addr_w32 ( int  addr,
float  value 
)

Definition at line 574 of file uxbus_cmd.cc.

int UxbusCmd::gripper_clean_err ( void  )

Definition at line 631 of file uxbus_cmd.cc.

int UxbusCmd::gripper_get_errcode ( int  rx_data[2])

Definition at line 627 of file uxbus_cmd.cc.

int UxbusCmd::gripper_get_pos ( float *  pulse)

Definition at line 615 of file uxbus_cmd.cc.

int UxbusCmd::gripper_modbus_clean_err ( void  )

Definition at line 855 of file uxbus_cmd.cc.

int UxbusCmd::gripper_modbus_get_errcode ( int *  err)

Definition at line 847 of file uxbus_cmd.cc.

int UxbusCmd::gripper_modbus_get_pos ( float *  pulse)

Definition at line 820 of file uxbus_cmd.cc.

int UxbusCmd::gripper_modbus_r16s ( int  addr,
int  len,
unsigned char *  rx_data 
)

Definition at line 789 of file uxbus_cmd.cc.

int UxbusCmd::gripper_modbus_set_en ( int  value)

Definition at line 800 of file uxbus_cmd.cc.

int UxbusCmd::gripper_modbus_set_mode ( int  value)

Definition at line 808 of file uxbus_cmd.cc.

int UxbusCmd::gripper_modbus_set_pos ( float  pulse)

Definition at line 828 of file uxbus_cmd.cc.

int UxbusCmd::gripper_modbus_set_posspd ( float  speed)

Definition at line 839 of file uxbus_cmd.cc.

int UxbusCmd::gripper_modbus_set_zero ( void  )

Definition at line 816 of file uxbus_cmd.cc.

int UxbusCmd::gripper_modbus_w16s ( int  addr,
float  value,
int  len 
)

Definition at line 774 of file uxbus_cmd.cc.

int UxbusCmd::gripper_set_en ( int  value)

Definition at line 603 of file uxbus_cmd.cc.

int UxbusCmd::gripper_set_mode ( int  value)

Definition at line 607 of file uxbus_cmd.cc.

int UxbusCmd::gripper_set_pos ( float  pulse)

Definition at line 619 of file uxbus_cmd.cc.

int UxbusCmd::gripper_set_posspd ( float  speed)

Definition at line 623 of file uxbus_cmd.cc.

int UxbusCmd::gripper_set_zero ( void  )

Definition at line 611 of file uxbus_cmd.cc.

int UxbusCmd::is_joint_limit ( float  joint[7],
int *  value 
)

Definition at line 534 of file uxbus_cmd.cc.

int UxbusCmd::is_nfp32 ( int  funcode,
float  datas[],
int  txn,
int *  value 
)
private

Definition at line 163 of file uxbus_cmd.cc.

int UxbusCmd::is_ok ( void  )
virtual

Reimplemented in UxbusCmdSer, and UxbusCmdTcp.

Definition at line 38 of file uxbus_cmd.cc.

int UxbusCmd::is_tcp_limit ( float  pose[6],
int *  value 
)

Definition at line 538 of file uxbus_cmd.cc.

int UxbusCmd::load_traj ( char  filename[81])

Definition at line 229 of file uxbus_cmd.cc.

int UxbusCmd::motion_en ( int  id,
int  value 
)

Definition at line 302 of file uxbus_cmd.cc.

int UxbusCmd::move_circle ( float  pose1[6],
float  pose2[6],
float  mvvelo,
float  mvacc,
float  mvtime,
float  percent 
)

Definition at line 454 of file uxbus_cmd.cc.

int UxbusCmd::move_gohome ( float  mvvelo,
float  mvacc,
float  mvtime 
)

Definition at line 404 of file uxbus_cmd.cc.

int UxbusCmd::move_joint ( float  mvjoint[7],
float  mvvelo,
float  mvacc,
float  mvtime 
)

Definition at line 376 of file uxbus_cmd.cc.

int UxbusCmd::move_jointb ( float  mvjoint[7],
float  mvvelo,
float  mvacc,
float  mvradii 
)

Definition at line 386 of file uxbus_cmd.cc.

int UxbusCmd::move_line ( float  mvpose[6],
float  mvvelo,
float  mvacc,
float  mvtime 
)

Definition at line 355 of file uxbus_cmd.cc.

int UxbusCmd::move_line_aa ( float  mvpose[6],
float  mvvelo,
float  mvacc,
float  mvtime,
int  mvcoord = 0,
int  relative = 0 
)

Definition at line 1059 of file uxbus_cmd.cc.

int UxbusCmd::move_line_tool ( float  mvpose[6],
float  mvvelo,
float  mvacc,
float  mvtime 
)

Definition at line 395 of file uxbus_cmd.cc.

int UxbusCmd::move_lineb ( float  mvpose[6],
float  mvvelo,
float  mvacc,
float  mvtime,
float  mvradii 
)

Definition at line 364 of file uxbus_cmd.cc.

int UxbusCmd::move_servo_cart_aa ( float  mvpose[6],
float  mvvelo,
float  mvacc,
int  tool_coord = 0,
int  relative = 0 
)

Definition at line 1069 of file uxbus_cmd.cc.

int UxbusCmd::move_servo_cartesian ( float  mvpose[6],
float  mvvelo,
float  mvacc,
float  mvtime 
)

Definition at line 421 of file uxbus_cmd.cc.

int UxbusCmd::move_servoj ( float  mvjoint[7],
float  mvvelo,
float  mvacc,
float  mvtime 
)

Definition at line 412 of file uxbus_cmd.cc.

int UxbusCmd::playback_traj ( int  times,
int  spdx = 1 
)

Definition at line 215 of file uxbus_cmd.cc.

int UxbusCmd::playback_traj_old ( int  times)

Definition at line 220 of file uxbus_cmd.cc.

int UxbusCmd::reload_dynamics ( void  )

Definition at line 327 of file uxbus_cmd.cc.

int UxbusCmd::save_conf ( void  )

Definition at line 514 of file uxbus_cmd.cc.

int UxbusCmd::save_traj ( char  filename[81])

Definition at line 225 of file uxbus_cmd.cc.

int UxbusCmd::send_pend ( int  funcode,
int  num,
int  timeout,
unsigned char *  rx_data 
)
privatevirtual

Reimplemented in UxbusCmdSer, and UxbusCmdTcp.

Definition at line 30 of file uxbus_cmd.cc.

int UxbusCmd::send_xbus ( int  funcode,
unsigned char *  txdata,
int  num 
)
privatevirtual

Reimplemented in UxbusCmdSer, and UxbusCmdTcp.

Definition at line 34 of file uxbus_cmd.cc.

int UxbusCmd::servo_addr_r16 ( int  id,
int  addr,
float *  value 
)

Definition at line 883 of file uxbus_cmd.cc.

int UxbusCmd::servo_addr_r32 ( int  id,
int  addr,
float *  value 
)

Definition at line 912 of file uxbus_cmd.cc.

int UxbusCmd::servo_addr_w16 ( int  id,
int  addr,
float  value 
)

Definition at line 870 of file uxbus_cmd.cc.

int UxbusCmd::servo_addr_w32 ( int  id,
int  addr,
float  value 
)

Definition at line 899 of file uxbus_cmd.cc.

int UxbusCmd::servo_get_dbmsg ( int  rx_data[16])

Definition at line 866 of file uxbus_cmd.cc.

int UxbusCmd::servo_set_zero ( int  id)

Definition at line 862 of file uxbus_cmd.cc.

int UxbusCmd::set_brake ( int  axis,
int  en 
)

Definition at line 342 of file uxbus_cmd.cc.

int UxbusCmd::set_collis_reb ( int  on_off)

Definition at line 297 of file uxbus_cmd.cc.

int UxbusCmd::set_collis_sens ( int  value)

Definition at line 498 of file uxbus_cmd.cc.

int UxbusCmd::set_collision_tool_model ( int  tool_type,
int  n = 0,
float *  argv = NULL 
)

Definition at line 1167 of file uxbus_cmd.cc.

int UxbusCmd::set_fense_on ( int  on_off)

Definition at line 292 of file uxbus_cmd.cc.

int UxbusCmd::set_gravity_dir ( float  gravity_dir[3])

Definition at line 506 of file uxbus_cmd.cc.

int UxbusCmd::set_joint_jerk ( float  jerk)

Definition at line 479 of file uxbus_cmd.cc.

int UxbusCmd::set_joint_maxacc ( float  maxacc)

Definition at line 484 of file uxbus_cmd.cc.

int UxbusCmd::set_modbus_baudrate ( int  baud)

Definition at line 743 of file uxbus_cmd.cc.

int UxbusCmd::set_modbus_timeout ( int  value)

Definition at line 739 of file uxbus_cmd.cc.

int UxbusCmd::set_mode ( int  value)

Definition at line 347 of file uxbus_cmd.cc.

int UxbusCmd::set_nfp32 ( int  funcode,
float *  datas,
int  num 
)
private

Definition at line 114 of file uxbus_cmd.cc.

int UxbusCmd::set_nfp32_with_bytes ( int  funcode,
float *  datas,
int  num,
char *  additional,
int  n 
)
private

Definition at line 178 of file uxbus_cmd.cc.

int UxbusCmd::set_nint32 ( int  funcode,
int *  datas,
int  num 
)
private

Definition at line 126 of file uxbus_cmd.cc.

int UxbusCmd::set_nu16 ( int  funcode,
int *  datas,
int  num 
)
private

Definition at line 92 of file uxbus_cmd.cc.

int UxbusCmd::set_nu8 ( int  funcode,
int *  datas,
int  num 
)
private

Definition at line 64 of file uxbus_cmd.cc.

int UxbusCmd::set_nu8_char ( int  funcode,
char *  datas,
int  num 
)
private

Definition at line 51 of file uxbus_cmd.cc.

int UxbusCmd::set_record_traj ( int  value)

Definition at line 210 of file uxbus_cmd.cc.

int UxbusCmd::set_reduced_jointspeed ( float  jspd_rad)

Definition at line 247 of file uxbus_cmd.cc.

int UxbusCmd::set_reduced_jrange ( float  jrange_rad[14])

Definition at line 288 of file uxbus_cmd.cc.

int UxbusCmd::set_reduced_linespeed ( float  lspd_mm)

Definition at line 242 of file uxbus_cmd.cc.

int UxbusCmd::set_reduced_mode ( int  on_off)

Definition at line 237 of file uxbus_cmd.cc.

int UxbusCmd::set_report_tau_or_i ( int  tau_or_i)

Definition at line 1153 of file uxbus_cmd.cc.

int UxbusCmd::set_safe_level ( int  level)

Definition at line 440 of file uxbus_cmd.cc.

int UxbusCmd::set_self_collision_detection ( int  on_off)

Definition at line 1162 of file uxbus_cmd.cc.

int UxbusCmd::set_servot ( float  jnt_taus[7])

Definition at line 430 of file uxbus_cmd.cc.

int UxbusCmd::set_simulation_robot ( int  on_off)

Definition at line 1178 of file uxbus_cmd.cc.

int UxbusCmd::set_state ( int  value)

Definition at line 307 of file uxbus_cmd.cc.

int UxbusCmd::set_tcp_jerk ( float  jerk)

Definition at line 469 of file uxbus_cmd.cc.

int UxbusCmd::set_tcp_load ( float  mass,
float  load_offset[3] 
)

Definition at line 493 of file uxbus_cmd.cc.

int UxbusCmd::set_tcp_maxacc ( float  maxacc)

Definition at line 474 of file uxbus_cmd.cc.

int UxbusCmd::set_tcp_offset ( float  pose_offset[6])

Definition at line 489 of file uxbus_cmd.cc.

int UxbusCmd::set_teach_sens ( int  value)

Definition at line 502 of file uxbus_cmd.cc.

int UxbusCmd::set_timeout ( float  timeout)

Definition at line 40 of file uxbus_cmd.cc.

int UxbusCmd::set_world_offset ( float  pose_offset[6])

Definition at line 276 of file uxbus_cmd.cc.

int UxbusCmd::set_xyz_limits ( int  xyz_list[6])

Definition at line 272 of file uxbus_cmd.cc.

int UxbusCmd::shutdown_system ( int  value)

Definition at line 206 of file uxbus_cmd.cc.

int UxbusCmd::sleep_instruction ( float  sltime)

Definition at line 449 of file uxbus_cmd.cc.

int UxbusCmd::swop_nfp32 ( int  funcode,
float  tx_datas[],
int  txn,
float *  rx_data,
int  rxn 
)
private

Definition at line 148 of file uxbus_cmd.cc.

int UxbusCmd::tgpio_addr_r16 ( int  addr,
float *  value 
)

Definition at line 651 of file uxbus_cmd.cc.

int UxbusCmd::tgpio_addr_r32 ( int  addr,
float *  value 
)

Definition at line 679 of file uxbus_cmd.cc.

int UxbusCmd::tgpio_addr_w16 ( int  addr,
float  value 
)

Definition at line 638 of file uxbus_cmd.cc.

int UxbusCmd::tgpio_addr_w32 ( int  addr,
float  value 
)

Definition at line 666 of file uxbus_cmd.cc.

int UxbusCmd::tgpio_delay_set_digital ( int  ionum,
int  value,
float  delay_sec 
)

Definition at line 1079 of file uxbus_cmd.cc.

int UxbusCmd::tgpio_get_analog1 ( float *  value)

Definition at line 720 of file uxbus_cmd.cc.

int UxbusCmd::tgpio_get_analog2 ( float *  value)

Definition at line 727 of file uxbus_cmd.cc.

int UxbusCmd::tgpio_get_digital ( int *  io1,
int *  io2 
)

Definition at line 695 of file uxbus_cmd.cc.

int UxbusCmd::tgpio_position_set_digital ( int  ionum,
int  value,
float  xyz[3],
float  tol_r 
)

Definition at line 1105 of file uxbus_cmd.cc.

int UxbusCmd::tgpio_set_digital ( int  ionum,
int  value 
)

Definition at line 704 of file uxbus_cmd.cc.

int UxbusCmd::tgpio_set_modbus ( unsigned char *  send_data,
int  length,
unsigned char *  recv_data 
)

Definition at line 760 of file uxbus_cmd.cc.

int UxbusCmd::vc_set_jointv ( float  jnt_v[7],
int  jnt_sync 
)

Definition at line 1182 of file uxbus_cmd.cc.

int UxbusCmd::vc_set_linev ( float  line_v[6],
int  coord 
)

Definition at line 1189 of file uxbus_cmd.cc.

Member Data Documentation

int UxbusCmd::GET_TIMEOUT_ = UXBUS_CONF::GET_TIMEOUT
private

Definition at line 219 of file uxbus_cmd.h.

std::mutex UxbusCmd::mutex_
private

Definition at line 218 of file uxbus_cmd.h.

int UxbusCmd::SET_TIMEOUT_ = UXBUS_CONF::SET_TIMEOUT
private

Definition at line 220 of file uxbus_cmd.h.

bool UxbusCmd::state_is_ready

Definition at line 215 of file uxbus_cmd.h.

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

xarm_api
Author(s):
autogenerated on Sat May 8 2021 02:51:23