uxbus_cmd_config.h

Go to the documentation of this file.

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

class UXBUS_RG {
public:
        UXBUS_RG(void) {}
        ~UXBUS_RG(void) {}

        static const unsigned char GET_VERSION = 1;
        static const unsigned char GET_ROBOT_SN = 2;
        static const unsigned char CHECK_VERIFY = 3;
        static const unsigned char RELOAD_DYNAMICS = 4;
        static const unsigned char GET_REPORT_TAU_OR_I = 5;
        static const unsigned char SHUTDOWN_SYSTEM = 10;

        static const unsigned char MOTION_EN = 11;
        static const unsigned char SET_STATE = 12;
        static const unsigned char GET_STATE = 13;
        static const unsigned char GET_CMDNUM = 14;
        static const unsigned char GET_ERROR = 15;
        static const unsigned char CLEAN_ERR = 16;
        static const unsigned char CLEAN_WAR = 17;
        static const unsigned char SET_BRAKE = 18;
        static const unsigned char SET_MODE = 19;

        static const unsigned char MOVE_LINE = 21;
        static const unsigned char MOVE_LINEB = 22;
        static const unsigned char MOVE_JOINT = 23;
        static const unsigned char MOVE_JOINTB = 24;
        static const unsigned char MOVE_HOME = 25;
        static const unsigned char SLEEP_INSTT = 26;
        static const unsigned char MOVE_CIRCLE = 27;
        static const unsigned char MOVE_LINE_TOOL = 28;
        static const unsigned char MOVE_SERVOJ = 29;
        static const unsigned char MOVE_SERVO_CART = 30;

        static const unsigned char SET_TCP_JERK = 31;
        static const unsigned char SET_TCP_MAXACC = 32;
        static const unsigned char SET_JOINT_JERK = 33;
        static const unsigned char SET_JOINT_MAXACC = 34;
        static const unsigned char SET_TCP_OFFSET = 35;
        static const unsigned char SET_LOAD_PARAM = 36;
        static const unsigned char SET_COLLIS_SENS = 37;
        static const unsigned char SET_TEACH_SENS = 38;
        static const unsigned char CLEAN_CONF = 39;
        static const unsigned char SAVE_CONF = 40;

        static const unsigned char GET_TCP_POSE = 41;
        static const unsigned char GET_JOINT_POS = 42;
        static const unsigned char GET_IK = 43;
        static const unsigned char GET_FK = 44;
        static const unsigned char IS_JOINT_LIMIT = 45;
        static const unsigned char IS_TCP_LIMIT = 46;

        static const unsigned char SET_REDUCED_TRSV = 47;
        static const unsigned char SET_REDUCED_P2PV = 48;
        static const unsigned char GET_REDUCED_MODE = 49;
        static const unsigned char SET_REDUCED_MODE = 50;
        static const unsigned char SET_GRAVITY_DIR = 51;
        static const unsigned char SET_LIMIT_XYZ = 52;
        static const unsigned char GET_REDUCED_STATE = 53;

        static const unsigned char SET_SERVOT = 54;
        static const unsigned char GET_JOINT_TAU = 55;
        static const unsigned char SET_SAFE_LEVEL = 56;
        static const unsigned char GET_SAFE_LEVEL = 57;

        static const unsigned char SET_REDUCED_JRANGE = 58;
        static const unsigned char SET_FENSE_ON = 59;
        static const unsigned char SET_COLLIS_REB = 60;

        static const unsigned char SET_TRAJ_RECORD = 61;
        static const unsigned char SAVE_TRAJ = 62;
        static const unsigned char LOAD_TRAJ = 63;
        static const unsigned char PLAY_TRAJ = 64;
        static const unsigned char GET_TRAJ_RW_STATUS = 65;

        static const unsigned char REPORT_TAU_OR_I = 70;
        static const unsigned char SET_TIMER = 71;
        static const unsigned char CANCEL_TIMER = 72;
        static const unsigned char SET_WORLD_OFFSET = 73;
        static const unsigned char CNTER_RESET = 74;
        static const unsigned char CNTER_PLUS = 75;

        static const unsigned char CAL_POSE_OFFSET = 76;

        static const unsigned char SET_SELF_COLLIS_CHECK = 77;
        static const unsigned char SET_COLLIS_TOOL = 78;
        static const unsigned char SET_SIMULATION_ROBOT = 79;

        static const unsigned char VC_SET_JOINTV = 81;
        static const unsigned char VC_SET_CARTV = 82;

        static const unsigned char GET_TCP_POSE_AA = 91;
        static const unsigned char MOVE_LINE_AA = 92;
        static const unsigned char MOVE_SERVO_CART_AA = 93;

        static const unsigned char SERVO_W16B = 101;
        static const unsigned char SERVO_R16B = 102;
        static const unsigned char SERVO_W32B = 103;
        static const unsigned char SERVO_R32B = 104;
        static const unsigned char SERVO_ZERO = 105;
        static const unsigned char SERVO_DBMSG = 106;

        static const unsigned char TGPIO_MB_TIOUT = 123;
        static const unsigned char TGPIO_MODBUS = 124;
        static const unsigned char TGPIO_ERR = 125;
        static const unsigned char TGPIO_W16B = 127;
        static const unsigned char TGPIO_R16B = 128;
        static const unsigned char TGPIO_W32B = 129;
        static const unsigned char TGPIO_R32B = 130;

        static const unsigned char CGPIO_GET_DIGIT = 131;
        static const unsigned char CGPIO_GET_ANALOG1 = 132;
        static const unsigned char CGPIO_GET_ANALOG2 = 133;
        static const unsigned char CGPIO_SET_DIGIT = 134;
        static const unsigned char CGPIO_SET_ANALOG1 = 135;
        static const unsigned char CGPIO_SET_ANALOG2 = 136;
        static const unsigned char CGPIO_SET_IN_FUN = 137;
        static const unsigned char CGPIO_SET_OUT_FUN = 138;
        static const unsigned char CGPIO_GET_STATE = 139;

        static const unsigned char GET_HD_TYPES = 141;
        static const unsigned char DELAYED_CGPIO_SET = 142;
        static const unsigned char DELAYED_TGPIO_SET = 143;
        static const unsigned char POSITION_CGPIO_SET = 144;
        static const unsigned char POSITION_TGPIO_SET = 145;
        static const unsigned char SET_IO_STOP_RESET = 146;
        static const unsigned char POSITION_CGPIO_SET_ANALOG = 147;
};

class UXBUS_STATE {
public:
        UXBUS_STATE(void) {}
        ~UXBUS_STATE(void) {}
        static const int NOT_CONNECTED = -1;
        static const int NOT_READY = -2;
        static const int API_EXCEPTION = -3;
        static const int CMD_NOT_EXIST = -4;
        static const int TCP_LIMIT = -6;
        static const int JOINT_LIMIT = -7;
        static const int OUT_OF_RANGE = -8;
        static const int EMERGENCY_STOP = -9;
        static const int SERVO_NOT_EXIST = -10;
        static const int CONVERT_FAILED = -11;
        static const int ERR_CODE = 1;
        static const int WAR_CODE = 2;
        static const int ERR_TOUT = 3;
        static const int ERR_LENG = 4;
        static const int ERR_NUM = 5;
        static const int ERR_PROT = 6;
        static const int ERR_FUN = 7;
        static const int ERR_NOTTCP = 8;
        static const int STATE_NOT_READY = 9;
        static const int ERR_OTHER = 11;
        static const int ERR_PARAM = 12;
        static const int TRAJ_RW_FAILED = 31;
        static const int TRAJ_RW_TOUT = 32;
        static const int TRAJ_PLAYBACK_TOUT = 33;
        static const int SUCTION_CUP_TOUT = 41;
};

class TRAJ_STATE {
public:
        TRAJ_STATE(void) {}
        ~TRAJ_STATE(void) {}

        static const int IDLE = 0;
        static const int LOADING = 1;
        static const int LOAD_SUCCESS = 2;
        static const int LOAD_FAIL = 3;
        static const int SAVING = 4;
        static const int SAVE_SUCCESS = 5;
        static const int SAVE_FAIL = 6;
};

class UXBUS_CONF {
public:
        UXBUS_CONF(void) {}
        ~UXBUS_CONF(void) {}

        static const int SET_TIMEOUT = 2000;  // ms
        static const int GET_TIMEOUT = 2000;  // ms
        static const int GRIPPER_ID = 8;
        static const int TGPIO_ID = 9;
        static const int MASTER_ID = 0xAA;
        static const int SLAVE_ID = 0x55;
};

class XARM_MODE {
public:
        XARM_MODE(void) {}
        ~XARM_MODE(void) {}

        static const int POSE = 0;
        static const int SERVO = 1;
        static const int TEACH_JOINT = 2;
        static const int TEACH_CART = 3;
        static const int VELO_JOINT = 4;
        static const int VELO_CART = 5; 
};

class XARM_STATE {
public:
        XARM_STATE(void) {}
        ~XARM_STATE(void) {}

        static const int START = 0;
        static const int MOVING = 1;
        static const int READY = 2;
        static const int PAUSE = 3;
        static const int STOP = 4;
        static const int MODE_CHANGE = 5;
};

class API_CODE {
public:
        API_CODE(void) {}
        ~API_CODE(void) {}
        static const int NOT_CONNECTED = -1;
        static const int NOT_READY = -2;
        static const int API_EXCEPTION = -3;
        static const int CMD_NOT_EXIST = -4;
        static const int TCP_LIMIT = -6;
        static const int JOINT_LIMIT = -7;
        static const int OUT_OF_RANGE = -8;
        static const int EMERGENCY_STOP = -9;
        static const int SERVO_NOT_EXIST = -10;
        static const int CONVERT_FAILED = -11;
        static const int NORMAL = 0;

        static const int HAS_ERROR = UXBUS_STATE::ERR_CODE;
        static const int HAS_WARN = UXBUS_STATE::WAR_CODE;
        static const int RES_TIMEOUT = UXBUS_STATE::ERR_TOUT;
        static const int RES_LENGTH_ERROR = UXBUS_STATE::ERR_LENG;
        static const int CMD_NUM_ERROR = UXBUS_STATE::ERR_NUM;
        static const int CMD_PROT_ERROR = UXBUS_STATE::ERR_PROT;
        static const int FUN_ERROR = UXBUS_STATE::ERR_FUN;
        static const int NO_TCP = UXBUS_STATE::ERR_NOTTCP;
        static const int OTHER = UXBUS_STATE::ERR_OTHER;
        static const int PARAM_ERROR = UXBUS_STATE::ERR_PARAM;

        static const int ERR_CODE = UXBUS_STATE::ERR_CODE;
        static const int WAR_CODE = UXBUS_STATE::WAR_CODE;
        static const int ERR_TOUT = UXBUS_STATE::ERR_TOUT;
        static const int ERR_LENG = UXBUS_STATE::ERR_LENG;
        static const int ERR_NUM = UXBUS_STATE::ERR_NUM;
        static const int ERR_PROT = UXBUS_STATE::ERR_PROT;
        static const int ERR_FUN = UXBUS_STATE::ERR_FUN;
        static const int ERR_NOTTCP = UXBUS_STATE::ERR_NOTTCP;
        static const int STATE_NOT_READY = UXBUS_STATE::STATE_NOT_READY;
        static const int ERR_OTHER = UXBUS_STATE::ERR_OTHER;
        static const int ERR_PARAM = UXBUS_STATE::ERR_PARAM;
        static const int TGPIO_ID_ERR = 20;
        static const int MODBUS_BAUD_NOT_SUPPORT = 21;
        static const int MODBUS_BAUD_NOT_CORRECT = 22;
        static const int MODBUS_ERR_LENG = 23;
        static const int TRAJ_RW_FAILED = 31;
        static const int TRAJ_RW_TOUT = 32;
        static const int TRAJ_PLAYBACK_TOUT = 33;
        static const int SUCTION_CUP_TOUT = 41;
        static const int WAIT_FINISH_TIMEOUT = 100;
        static const int CHECK_FAILED = 101;
        static const int END_EFFECTOR_HAS_FAULT = 102;
        static const int END_EFFECTOR_NOT_ENABLED = 103;
};

class BIO_STATE {
public:
        BIO_STATE(void) {}
        ~BIO_STATE(void) {}

        static const int IS_STOP = 0;
        static const int IS_MOTION = 1;
        static const int IS_DETECTED = 2;
        static const int IS_FAULT = 3;
        static const int IS_NOT_ENABLED = 0;
        static const int IS_ENABLING = 1;
        static const int IS_ENABLED = 2;
};

class COLLISION_TOOL_TYPE {
public:
        COLLISION_TOOL_TYPE(void) {}
        ~COLLISION_TOOL_TYPE(void) {}

        static const int NONE = 0;
        static const int XARM_GRIPPER = 1;
        static const int XARM_VACUUM_GRIPPER = 2;
        static const int XARM_BIO_GRIPPER = 3;
        static const int ROBOTIQ_2F85 = 4;
        static const int ROBOTIQ_2F140 = 5;
        static const int USE_PRIMITIVES = 20;
        static const int CYLINDER = 21;
        static const int BOX = 22;
};

#endif