uxbus_cmd.h

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/* Copyright 2017 UFACTORY Inc. All Rights Reserved.
 *
 * Software License Agreement (BSD License)
 *
 * Author: Jimy Zhang <jimy92@163.com>
 ============================================================================*/
#ifndef CORE_INSTRUCTION_UXBUS_CMD_H_
#define CORE_INSTRUCTION_UXBUS_CMD_H_

#include <mutex>
#include <iostream>
#include <vector>
#include <sys/timeb.h>
#ifdef _WIN32
#include <windows.h>
#else
#include <unistd.h>
#include <time.h>
#endif
#include "xarm/core/common/data_type.h"
#include "xarm/core/instruction/uxbus_cmd_config.h"


inline void sleep_milliseconds(unsigned long milliseconds) {
#ifdef _WIN32
        Sleep(milliseconds);
#else
        usleep(milliseconds * 1000);
#endif
}

inline long long get_system_time()
{
#ifdef _WIN32
        struct timeb t;
        ftime(&t);
        return 1000 * t.time + t.millitm; // milliseconds
#else
        struct timespec t;
        clock_gettime(CLOCK_REALTIME, &t);
        return 1000 * t.tv_sec + t.tv_nsec / 1000000; // milliseconds
#endif
}

class UxbusCmd {
public:
        UxbusCmd(void);
        ~UxbusCmd(void);

        int set_timeout(float timeout);

        int get_version(unsigned char rx_data[40]);
        int get_robot_sn(unsigned char rx_data[40]);
        int check_verification(int *rx_data);
        int shutdown_system(int value);
        int set_record_traj(int value);
        int save_traj(char filename[81]);
        int load_traj(char filename[81]);
        int playback_traj(int times, int spdx = 1);
        int playback_traj_old(int times);
        int get_traj_rw_status(int *rx_data);
        int set_reduced_mode(int on_off);
        int set_reduced_linespeed(float lspd_mm);
        int set_reduced_jointspeed(float jspd_rad);
        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 set_xyz_limits(int xyz_list[6]);
        int set_world_offset(float pose_offset[6]);
        int cnter_reset(void);
        int cnter_plus(void);
        int set_reduced_jrange(float jrange_rad[14]);
        int set_fense_on(int on_off);
        int set_collis_reb(int on_off);
        int motion_en(int id, int value);
        int set_state(int value);
        int get_state(int *rx_data);
        int get_cmdnum(int *rx_data);
        int get_err_code(int *rx_data);
        int get_hd_types(int *rx_data);
        int reload_dynamics(void);
        int clean_err(void);
        int clean_war(void);
        int set_brake(int axis, int en);
        int set_mode(int value);
        int move_line(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_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_tool(float mvpose[6], float mvvelo, float mvacc, float mvtime);
        int move_gohome(float mvvelo, float mvacc, float mvtime);
        int move_servoj(float mvjoint[7], float mvvelo, float mvacc, float mvtime);
        int move_servo_cartesian(float mvpose[6], float mvvelo, float mvacc, float mvtime);
        int set_servot(float jnt_taus[7]);
        int get_joint_tau(float jnt_taus[7]);
        int set_safe_level(int level);
        int get_safe_level(int *level);
        int sleep_instruction(float sltime);
        int move_circle(float pose1[6], float pose2[6], float mvvelo, float mvacc, float mvtime, float percent);
        int set_tcp_jerk(float jerk);
        int set_tcp_maxacc(float maxacc);
        int set_joint_jerk(float jerk);
        int set_joint_maxacc(float maxacc);
        int set_tcp_offset(float pose_offset[6]);
        int set_tcp_load(float mass, float load_offset[3]);
        int set_collis_sens(int value);
        int set_teach_sens(int value);
        int set_gravity_dir(float gravity_dir[3]);
        int clean_conf(void);
        int save_conf(void);

        int get_tcp_pose(float pose[6]);
        int get_joint_pose(float angles[7]);
        int get_ik(float pose[6], float angles[7]);
        int get_fk(float angles[7], float pose[6]);
        int is_joint_limit(float joint[7], int *value);
        int is_tcp_limit(float pose[6], int *value);
        int gripper_addr_w16(int addr, float value);
        int gripper_addr_r16(int addr, float *value);
        int gripper_addr_w32(int addr, float value);
        int gripper_addr_r32(int addr, float *value);
        int gripper_set_en(int value);
        int gripper_set_mode(int value);
        int gripper_set_zero(void);
        int gripper_get_pos(float *pulse);
        int gripper_set_pos(float pulse);
        int gripper_set_posspd(float speed);
        int gripper_get_errcode(int rx_data[2]);
        int gripper_clean_err(void);

        int tgpio_addr_w16(int addr, float value);
        int tgpio_addr_r16(int addr, float *value);
        int tgpio_addr_w32(int addr, float value);
        int tgpio_addr_r32(int addr, float *value);
        int tgpio_get_digital(int *io1, int *io2);
        int tgpio_set_digital(int ionum, int value);
        int tgpio_get_analog1(float *value);
        int tgpio_get_analog2(float *value);

        int set_modbus_timeout(int value);
        int set_modbus_baudrate(int baud);
        int tgpio_set_modbus(unsigned char *send_data, int length, unsigned char *recv_data);
        int gripper_modbus_w16s(int addr, float value, int len);
        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_zero(void);
        int gripper_modbus_get_pos(float *pulse);
        int gripper_modbus_set_pos(float pulse);
        int gripper_modbus_set_posspd(float speed);
        int gripper_modbus_get_errcode(int *err);
        int gripper_modbus_clean_err(void);

        int servo_set_zero(int id);
        int servo_get_dbmsg(int rx_data[16]);
        int servo_addr_w16(int id, int addr, float value);
        int servo_addr_r16(int id, int addr, float *value);
        int servo_addr_w32(int id, int addr, float value);
        int servo_addr_r32(int id, int addr, float *value);


        int cgpio_get_auxdigit(int *value);
        int cgpio_get_analog1(float *value);
        int cgpio_get_analog2(float *value);
        int cgpio_set_auxdigit(int ionum, int value);
        int cgpio_set_analog1(float value);
        int cgpio_set_analog2(float value);
        int cgpio_set_infun(int ionum, int fun);
        int cgpio_set_outfun(int ionum, int fun);
        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 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 move_line_aa(float mvpose[6], float mvvelo, float mvacc, float mvtime, int mvcoord=0, int relative=0);
        int move_servo_cart_aa(float mvpose[6], float mvvelo, float mvacc, int tool_coord=0, int relative=0);

        int tgpio_delay_set_digital(int ionum, int value, float delay_sec);
        int cgpio_delay_set_digital(int ionum, int value, float delay_sec);
        int tgpio_position_set_digital(int ionum, int value, float xyz[3], float tol_r);
        int cgpio_position_set_digital(int ionum, int value, float xyz[3], float tol_r);
        int cgpio_position_set_analog(int ionum, float value, float xyz[3], float tol_r);
        int config_io_stop_reset(int io_type, int val);

        int set_report_tau_or_i(int tau_or_i);
        int get_report_tau_or_i(int *rx_data);

        int set_self_collision_detection(int on_off);
        int set_collision_tool_model(int tool_type, int n = 0, float *argv = NULL);
        int set_simulation_robot(int on_off);

        int vc_set_jointv(float jnt_v[7], int jnt_sync);
        int vc_set_linev(float line_v[6], int coord);

        virtual void close(void);
        virtual int is_ok(void);

private:
        virtual int check_xbus_prot(unsigned char *data, int funcode);
        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_nu8_char(int funcode, char *datas, int num);
        int set_nu8(int funcode, int *datas, int num);
        int get_nu8(int funcode, int *rx_data, int num);
        int get_nu8(int funcode, unsigned char *rx_data, int num);
        int set_nu16(int funcode, int *datas, int num);
        int get_nu16(int funcode, int *rx_data, int num);
        int set_nfp32(int funcode, float *datas, int num);
        int set_nint32(int funcode, int *datas, int num);
        int get_nfp32(int funcode, float *rx_data, int num);
        int swop_nfp32(int funcode, float tx_datas[], int txn, float *rx_data, int rxn);
        int is_nfp32(int funcode, float datas[], int txn, int *value);
        int set_nfp32_with_bytes(int funcode, float *datas, int num, char *additional, int n);

public:
        bool state_is_ready;

private:
        std::mutex mutex_;
        int GET_TIMEOUT_ = UXBUS_CONF::GET_TIMEOUT;
        int SET_TIMEOUT_ = UXBUS_CONF::SET_TIMEOUT;
};

#endif