kni_wrapper.cpp
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1 /**************************************************************************
2  * kni_wrapper.cpp -
3  * Implements a wrapper for the kni library so that the C++ library
4  * can be accessed by C based environments (MatLab, LabView)
5  * Copyright (C) Neuronics AG
6  * Philipp Keller, Tino Perucchi, 2008
7 **************************************************************************/
8 #include <iostream>
9 #include <memory>
10 #include <math.h>
11 #include <vector>
12 #include <string.h>
13 #include <map>
14 
15 #define EXPORT_FCNS
16 #include "kni_wrapper/kni_wrapper.h"
17 
18 //#include <pthread.h>
19 #include <sstream>
21 //KNI internal types
22 static std::unique_ptr<CLMBase> katana;
23 static std::unique_ptr<CCdlSocket> device;
24 static std::unique_ptr<CCplSerialCRC> protocol;
26 //A map containing movement vectors accessible by a string name:
27 std::map< std::string, std::vector<TMovement> > movements;
28 //A vector for storing encoders
29 std::vector<int> encoders;
30 //The number of motors, initialized in initKatana()
31 int numberOfMotors;
32 //variables to store communication data
33 byte packet[32]; //comm packet
34 byte buffer[256]; //comm readbuf
35 byte size = 0; //comm readbuf size
37 
38 
39 DLLEXPORT int initKatana(char* configFile, char* ipaddress){
40  try {
41  int port = 5566;
42  device.reset(new CCdlSocket(ipaddress, port));
43  protocol.reset(new CCplSerialCRC());
44  protocol->init(device.get());
45  katana.reset(new CLMBase());
46  katana->create(configFile, protocol.get());
47  numberOfMotors = katana->getNumberOfMotors();
48  for(int i = 0; i < numberOfMotors; i++){
49  encoders.push_back(0);
50  }
51  //MessageBox(NULL, "Katana successfully initiated!",TEXT(""),MB_OK);
52  }
53  catch(Exception &e){
54  std::cout << "ERROR: " << e.message() << std::endl;
55  #ifdef WIN32
56  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
57  #endif
58  return ERR_FAILED;
59  }
60  return ERR_SUCCESS;
61 }
63 DLLEXPORT int calibrate(int axis){
64  try{
65  katana->calibrate();
66  }
67  catch(Exception &e){
68  std::cout << "ERROR: " << e.message() << std::endl;
69  #ifdef WIN32
70  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
71  #endif
72  return ERR_FAILED;
73  }
74  return ERR_SUCCESS;
75 }
77 DLLEXPORT int moveMot(int axis, int enc, int speed, int accel){
78  try{
79  //set speed
80  katana->setMotorVelocityLimit(axis-1, speed);
81  //set acceleration
82  katana->setMotorAccelerationLimit(axis-1, accel);
83  //move
84  katana->moveMotorToEnc(axis-1, enc);
85  }
86  catch(...){
87  return ERR_FAILED;
88  }
89  return ERR_SUCCESS;
90 }
92 DLLEXPORT int waitForMot(int axis, int targetpos, int tolerance){
93  try{
94  katana->waitForMotor( (short)axis-1, targetpos, tolerance, 0, TM_ENDLESS);
95  }
96  catch(Exception &e){
97  std::cout << "ERROR: " << e.message() << std::endl;
98  #ifdef WIN32
99  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
100  #endif
101  return ERR_FAILED;
102  }
103  return ERR_SUCCESS;
104 }
106 DLLEXPORT int moveMotAndWait(int axis, int targetpos, int tolerance){
107  try{
108  katana->moveMotorToEnc(axis-1, targetpos);
109  waitForMot(axis, targetpos, tolerance);
110  }
111  catch(Exception &e){
112  std::cout << "ERROR: " << e.message() << std::endl;
113  #ifdef WIN32
114  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
115  #endif
116  return ERR_FAILED;
117  }
118  return ERR_SUCCESS;
119 }
121 DLLEXPORT int motorOn(int axis){
122  try{
123  katana->switchMotorOn(axis-1);
124  }
125  catch(Exception &e){
126  std::cout << "ERROR: " << e.message() << std::endl;
127  #ifdef WIN32
128  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
129  #endif
130  return ERR_FAILED;
131  }
132  return ERR_SUCCESS;
133 }
135 DLLEXPORT int motorOff(int axis){
136  try{
137  katana->switchMotorOff(axis-1);
138  }
139  catch(Exception &e){
140  std::cout << "ERROR: " << e.message() << std::endl;
141  #ifdef WIN32
142  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
143  #endif
144  return ERR_FAILED;
145  }
146  return ERR_SUCCESS;
147 }
149 DLLEXPORT int allMotorsOff(){
150  try{
151  katana->switchRobotOff();
152  }
153  catch(Exception &e){
154  std::cout << "ERROR: " << e.message() << std::endl;
155  #ifdef WIN32
156  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
157  #endif
158  return ERR_FAILED;
159  }
160  return ERR_SUCCESS;
161 }
163 DLLEXPORT int allMotorsOn(){
164  try{
165  katana->switchRobotOn();
166  }
167  catch(Exception &e){
168  std::cout << "ERROR: " << e.message() << std::endl;
169  #ifdef WIN32
170  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
171  #endif
172  return ERR_FAILED;
173  }
174  return ERR_SUCCESS;
175 }
177 DLLEXPORT int setGripper(bool hasGripper){
178  try{
179  // cannot extract configured values from KNI atm.
180  int openEncoders = 30770;
181  int closeEncoders = 12240;
182 
183  katana->setGripperParameters(hasGripper, openEncoders, closeEncoders);
184  }
185  catch(Exception &e){
186  std::cout << "ERROR: " << e.message() << std::endl;
187  #ifdef WIN32
188  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
189  #endif
190  return ERR_FAILED;
191  }
192  return ERR_SUCCESS;
193 }
195 DLLEXPORT int closeGripper(){
196  try{
197  katana->closeGripper();
198  }
199  catch(Exception &e){
200  std::cout << "ERROR: " << e.message() << std::endl;
201  #ifdef WIN32
202  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
203  #endif
204  return ERR_FAILED;
205  }
206  return ERR_SUCCESS;
207 }
209 DLLEXPORT int openGripper(){
210  try{
211  katana->openGripper();
212  }
213  catch(Exception &e){
214  std::cout << "ERROR: " << e.message() << std::endl;
215  #ifdef WIN32
216  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
217  #endif
218  return ERR_FAILED;
219  }
220  return ERR_SUCCESS;
221 }
223 DLLEXPORT int moveToPosEnc(int enc1, int enc2, int enc3, int enc4, int enc5, int enc6, int velocity, int acceleration, int tolerance, bool _wait){
224  std::cout << "moving to: " << enc1 << ", " << enc2 << ", " << enc3 << ", " << enc4 << ", " << enc5 << ", " << enc6 << "\n";
225  try{
226  for(int i = 0; i < numberOfMotors; i++){
227  //set speed
228  katana->setMotorVelocityLimit(i, velocity);
229  //set acceleration
230  katana->setMotorAccelerationLimit(i, acceleration);
231  }
232  //move
233  std::vector<int> enc;
234  enc.push_back(enc1);
235  enc.push_back(enc2);
236  enc.push_back(enc3);
237  enc.push_back(enc4);
238  enc.push_back(enc5);
239  enc.push_back(enc6);
240  katana->moveRobotToEnc(enc.begin(), enc.end(), _wait, tolerance);
241  }
242  catch(Exception &e){
243  std::cout << "ERROR: " << e.message() << std::endl;
244  #ifdef WIN32
245  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
246  #endif
247  return ERR_FAILED;
248  }
249  return ERR_SUCCESS;
250 }
252 DLLEXPORT int sendSplineToMotor(int axis, int targetpos, int duration, int p0, int p1, int p2, int p3){
253  try{
254  katana->sendSplineToMotor((unsigned short) (axis-1), (short) targetpos, (short) duration, p0, p1, p2, p3);
255  }
256  catch(Exception &e){
257  std::cout << "ERROR: " << e.message() << std::endl;
258  #ifdef WIN32
259  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
260  #endif
261  return ERR_FAILED;
262  }
263  return ERR_SUCCESS;
264 }
266 DLLEXPORT int startSplineMovement(int contd, int exactflag){
267  try{
268  bool exact = (exactflag != 0);
269  katana->startSplineMovement(exact, contd);
270  }
271  catch(Exception &e){
272  std::cout << "ERROR: " << e.message() << std::endl;
273  #ifdef WIN32
274  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
275  #endif
276  return ERR_FAILED;
277  }
278  return ERR_SUCCESS;
279 }
281 DLLEXPORT int flushMoveBuffers(){
282  try{
283  katana->flushMoveBuffers();
284  }
285  catch(Exception &e){
286  std::cout << "ERROR: " << e.message() << std::endl;
287  #ifdef WIN32
288  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
289  #endif
290  return ERR_FAILED;
291  }
292  return ERR_SUCCESS;
293 }
295 DLLEXPORT int getPosition(struct TPos *pos){
296  try{
297  katana->getCoordinates(pos->X, pos->Y, pos->Z, pos->phi, pos->theta, pos->psi);
298  }
299  catch(Exception &e){
300  std::cout << "ERROR: " << e.message() << std::endl;
301  #ifdef WIN32
302  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
303  #endif
304  return ERR_FAILED;
305  }
306  return ERR_SUCCESS;
307 }
309 DLLEXPORT int moveToPos(struct TPos *pos, int velocity, int acceleration){
310  try{
311  setMaxAccel(0, acceleration);
312  setMaxVelocity(0, velocity);
313  katana->moveRobotTo(pos->X, pos->Y, pos->Z, pos->phi, pos->theta, pos->psi);
314  }
315  catch(Exception &e){
316  std::cout << "ERROR: " << e.message() << std::endl;
317  #ifdef WIN32
318  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
319  #endif
320  return ERR_FAILED;
321  }
322  return ERR_SUCCESS;
323 }
325 DLLEXPORT int moveToPosLin(struct TPos *targetPos, int velocity, int acceleration){
326  try{
327  setMaxAccel(0, acceleration);
328  setMaxVelocity(0, velocity);
329  katana->moveRobotLinearTo(targetPos->X, targetPos->Y, targetPos->Z, targetPos->phi, targetPos->theta, targetPos->psi);
330  }
331  catch(Exception &e){
332  std::cout << "ERROR: " << e.message() << std::endl;
333  #ifdef WIN32
334  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
335  #endif
336  return ERR_FAILED;
337  }
338  return ERR_SUCCESS;
339 }
341 DLLEXPORT int pushMovementToStack(struct TMovement *movement, char* name){
342  try{
343  // name as string
344  std::string name_str(name);
345  // get according movement vector, a new entry is created and inserted
346  // automatically if it does not exist and store movement in it
347  movements[name_str].push_back(*movement);
348  }
349  catch(Exception &e){
350  std::cout << "ERROR: " << e.message() << std::endl;
351  #ifdef WIN32
352  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
353  #endif
354  return ERR_FAILED;
355  }
356  return ERR_SUCCESS;
357 }
359 DLLEXPORT int deleteMovementFromStack(char* name, int index){
360  try{
361  int status = ERR_SUCCESS;
362  // name as string
363  std::string name_str(name);
364  // find movement vector
365  std::map< std::string, std::vector<TMovement> >::iterator it;
366  it = movements.find(name_str);
367  if (it == movements.end()) {
368  // movement vector does not exist
369  status = ERR_FAILED;
370  } else {
371  // movement vector exists
372  std::vector<TMovement> movement_vector = (*it).second;
373  if ((int)movement_vector.size() >= index) {
374  // index out of range
375  status = ERR_FAILED;
376  } else {
377  // erase movement
378  movement_vector.erase(movement_vector.begin()+index);
379  status = ERR_SUCCESS;
380  }
381  }
382  if (status == ERR_FAILED) {
383  return ERR_FAILED;
384  }
385  }
386  catch(Exception &e){
387  std::cout << "ERROR: " << e.message() << std::endl;
388  #ifdef WIN32
389  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
390  #endif
391  return ERR_FAILED;
392  }
393  return ERR_SUCCESS;
394 }
396 DLLEXPORT int deleteMovementStack(char* name){
397  try{
398  int status = ERR_SUCCESS;
399  // name as string
400  std::string name_str(name);
401  // find movement vector
402  std::map< std::string, std::vector<TMovement> >::iterator it;
403  it = movements.find(name_str);
404  if (it == movements.end()) {
405  // movement vector does not exist
406  status = ERR_FAILED;
407  } else {
408  // movement vector exists, erase it
409  movements.erase(it);
410  status = ERR_SUCCESS;
411  }
412  if (status == ERR_FAILED) {
413  return ERR_FAILED;
414  }
415  }
416  catch(Exception &e){
417  std::cout << "ERROR: " << e.message() << std::endl;
418  #ifdef WIN32
419  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
420  #endif
421  return ERR_FAILED;
422  }
423  return ERR_SUCCESS;
424 }
426 DLLEXPORT int runThroughMovementStack(char* name, int loops){
427  try{
428  int status = ERR_SUCCESS;
429  // name as string
430  std::string name_str(name);
431  // find movement vector
432  std::map< std::string, std::vector<TMovement> >::iterator it;
433  it = movements.find(name_str);
434  if (it == movements.end()) {
435  // movement vector does not exist
436  status = ERR_FAILED;
437  } else {
438  // movement vector exists
439  std::vector<TMovement> movement_vector = (*it).second;
440  // execute all movements in movement vector
441  int size = (int)movement_vector.size();
442  if (size == 1) {
443  status = executeMovement(&(movement_vector.at(0)));
444  } else {
445  bool first, last;
446  struct TPos *lastpos;
447  for (int j = 0; j < loops; ++j) {
448  last = false;
449  for (int i = 0; i < size; ++i) {
450  if (i == 0) {
451  first = true;
452  lastpos = NULL;
453  } else {
454  first = false;
455  lastpos = &((movement_vector.at(i-1)).pos);
456  }
457  if (i == (size - 1))
458  last = true;
459  status = executeConnectedMovement(&(movement_vector.at(i)),
460  lastpos, first, last);
461  if (status == ERR_FAILED) {
462  break;
463  }
464  }
465  }
466  }
467  }
468  if (status == ERR_FAILED) {
469  return ERR_FAILED;
470  }
471  }
472  catch(Exception &e){
473  std::cout << "ERROR: " << e.message() << std::endl;
474  #ifdef WIN32
475  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
476  #endif
477  return ERR_FAILED;
478  }
479  return ERR_SUCCESS;
480 }
482 DLLEXPORT int executeMovement(struct TMovement *movement){
483  int status = ERR_SUCCESS;
484  if (movement->transition == PTP) {
485  //move PTP
486  status = moveToPos(&(movement->pos), movement->velocity, movement->acceleration);
487  } else if (movement->transition == LINEAR) {
488  //move linear
489  status = moveToPosLin(&(movement->pos), movement->velocity, movement->acceleration);
490  } else {
491  status = ERR_FAILED;
492  }
493  return status;
494 }
496 DLLEXPORT int executeConnectedMovement(struct TMovement *movement, struct TPos *startPos,
497  bool first, bool last){
498  int status = ERR_SUCCESS;
499  setMaxAccel(0, movement->acceleration);
500  setMaxVelocity(0, movement->velocity);
501  bool wait = last; // only wait at the last of the connected movements
502  if (movement->transition == PTP) {
503  //move PTP
504  try{
505  if (first) {
506  // first of the connected movements, no startpos known
507  katana->moveRobotTo(movement->pos.X, movement->pos.Y, movement->pos.Z,
508  movement->pos.phi, movement->pos.theta, movement->pos.psi,
509  wait);
510  } else {
511  // startpos known
512  katana->movP2P(startPos->X, startPos->Y, startPos->Z, startPos->phi,
513  startPos->theta, startPos->psi, movement->pos.X, movement->pos.Y,
514  movement->pos.Z, movement->pos.phi, movement->pos.theta,
515  movement->pos.psi, true, movement->velocity, wait);
516  }
517  }
518  catch(...){
519  status = ERR_FAILED;
520  }
521  } else if (movement->transition == LINEAR) {
522  //move linear
523  try{
524  if (first) {
525  // first of the connected movements, no startpos known
526  katana->moveRobotLinearTo(movement->pos.X, movement->pos.Y,
527  movement->pos.Z, movement->pos.phi, movement->pos.theta,
528  movement->pos.psi, wait);
529  } else {
530  // startpos known
531  katana->movLM2P(startPos->X, startPos->Y, startPos->Z, startPos->phi,
532  startPos->theta, startPos->psi, movement->pos.X, movement->pos.Y,
533  movement->pos.Z, movement->pos.phi, movement->pos.theta,
534  movement->pos.psi, true, movement->velocity, wait);
535  }
536  }
537  catch(...){
538  status = ERR_FAILED;
539  }
540  } else {
541  status = ERR_FAILED;
542  }
543  return status;
544 }
546 DLLEXPORT int ModBusTCP_writeWord(int address, int value){
547  try{
548  byte packet[32];
549  byte size;
550  packet[0] = 'M';
551  packet[1] = 'W';
552  packet[2] = (byte)address;
553  packet[3] = (byte)(value >> 8);
554  packet[4] = (byte)value;
555  protocol->comm(packet, buffer, &size);
556  if (!buffer[0] || ((short) size != 4)){
557  return ERR_FAILED;
558  }
559  }
560  catch(Exception &e){
561  std::cout << "ERROR: " << e.message() << std::endl;
562  #ifdef WIN32
563  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
564  #endif
565  return ERR_FAILED;
566  }
567  return ERR_SUCCESS;
568 }
570 int ModBusTCP_readWord(int address, int &value){
571  try{
572  byte packet[32];
573  byte size;
574  packet[0] = 'M';
575  packet[1] = 'R';
576  packet[2] = (byte)address;
577  protocol->comm(packet, buffer, &size);
578  if (!buffer[0] || ((short) size != 4)){
579  return ERR_FAILED;
580  }
581  int val = buffer[2];
582  val <<= 8;
583  val += buffer[1];
584  value = val;
585  }
586  catch(Exception &e){
587  std::cout << "ERROR: " << e.message() << std::endl;
588  #ifdef WIN32
589  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
590  #endif
591  return ERR_FAILED;
592  }
593  return ERR_SUCCESS;
594 }
596 DLLEXPORT int IO_setOutput(char output, int value){
597  try{
598  byte packet[32];
599  byte size;
600  packet[0] = 'T';
601  packet[1] = 'w';
602  packet[2] = (byte)value << output;
603  packet[3] = 0;
604  packet[4] = 0;
605  protocol->comm(packet, buffer, &size);
606  if (!buffer[0] || ((short) size != 2)) {
607  std::cout << " command failed!" << std::endl;
608  return ERR_FAILED;
609  }
610  }
611  catch(Exception &e){
612  std::cout << "ERROR: " << e.message() << std::endl;
613  #ifdef WIN32
614  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
615  #endif
616  return ERR_FAILED;
617  }
618  return ERR_SUCCESS;
619 }
621 int IO_readInput(int inputNr, int &value){
622  try{
623  byte packet[32];
624  byte size;
625  packet[0] = 'T';
626  packet[1] = 'r';
627  packet[2] = 0;
628  packet[3] = 0;
629  packet[4] = 0;
630  protocol->comm(packet, buffer, &size);
631  if (!buffer[0] || ((short) size != 2)) {
632  std::cout << " command failed!" << std::endl;
633  return ERR_FAILED;
634  }
635  }
636  catch(Exception &e){
637  std::cout << "ERROR: " << e.message() << std::endl;
638  #ifdef WIN32
639  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
640  #endif
641  return ERR_FAILED;
642  }
643  byte mask = static_cast<byte>(pow(static_cast<double>(2), inputNr-1));
644  if(buffer[1] != 0xFF){
645  if((mask & (int)buffer[1]) > 0){
646  value = 0;
647  } else {
648  value = 1;
649  }
650  return ERR_SUCCESS;
651  }
652  else return ERR_FAILED;
653 }
655 DLLEXPORT int clearMoveBuffers(){
656  try{
657  for(int i = 1; i <= getNumberOfMotors(); i++){
658  TMotTPS tps = { MCF_CLEAR_MOVEBUFFER, 0 };
659  katana->GetBase()->GetMOT()->arr[i].sendTPS(&tps);
660  }
661  }
662  catch(Exception &e){
663  std::cout << "ERROR: " << e.message() << std::endl;
664  #ifdef WIN32
665  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
666  #endif
667  return ERR_FAILED;
668  }
669  return ERR_SUCCESS;
670 }
672 int getVelocity(int axis, int &value){
673  try{
674  katana->GetBase()->GetMOT()->arr[axis-1].recvPVP();
675  short vel = katana->GetBase()->GetMOT()->arr[axis-1].GetPVP()->vel;
676  value = (int) vel;
677  }
678  catch(Exception &e){
679  std::cout << "ERROR: " << e.message() << std::endl;
680  #ifdef WIN32
681  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
682  #endif
683  return ERR_FAILED;
684  }
685  return ERR_SUCCESS;
686 }
688 int getDrive(int axis, int &value){
689  try{
690  katana->GetBase()->GetMOT()->arr[axis-1].recvPVP();
691  byte pwm = katana->GetBase()->GetMOT()->arr[axis-1].GetPVP()->pwm;
692  value = (int) pwm;
693  }
694  catch(Exception &e){
695  std::cout << "ERROR: " << e.message() << std::endl;
696  #ifdef WIN32
697  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
698  #endif
699  return ERR_FAILED;
700  }
701  return ERR_SUCCESS;
702 }
704 int getEncoder(int axis, int &value){
705  try{
706  katana->getRobotEncoders(encoders.begin(), encoders.end());
707  value = encoders.at(axis-1);
708  }
709  catch(Exception &e){
710  std::cout << "ERROR: " << e.message() << std::endl;
711  #ifdef WIN32
712  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
713  #endif
714  return ERR_FAILED;
715  }
716  return ERR_SUCCESS;
717 }
719 int getAxisFirmwareVersion(int axis, char value[]){
720  try{
721  katana->GetBase()->GetMOT()->arr[axis-1].recvSFW();
722  int v = (int) katana->GetBase()->GetMOT()->arr[axis-1].GetSFW()->version;
723  int sv = (int) katana->GetBase()->GetMOT()->arr[axis-1].GetSFW()->subversion;
724  int r = (int) katana->GetBase()->GetMOT()->arr[axis-1].GetSFW()->revision;
725  std::stringstream ss;
726  ss << v << "." << sv << "." << r;
727  const char* cstr = ss.str().c_str();
728  int index = -1;
729  do {
730  index++;
731  value[index] = cstr[index];
732  } while (cstr[index] != '\0');
733  }
734  catch(Exception &e){
735  std::cout << "ERROR: " << e.message() << std::endl;
736  #ifdef WIN32
737  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
738  #endif
739  return ERR_FAILED;
740  }
741  return ERR_SUCCESS;
742 }
744 int getVersion(char value[]){
745  try{
746  katana->GetBase()->recvMFW();
747  int v = (int) katana->GetBase()->GetMFW()->ver;
748  int r = (int) katana->GetBase()->GetMFW()->rev;
749  std::stringstream ss;
750  ss << v << "." << r;
751  const char* cstr = ss.str().c_str();
752  int index = -1;
753  do {
754  index++;
755  value[index] = cstr[index];
756  } while (cstr[index] != '\0');
757  }
758  catch(Exception &e){
759  std::cout << "ERROR: " << e.message() << std::endl;
760  #ifdef WIN32
761  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
762  #endif
763  return ERR_FAILED;
764  }
765  return ERR_SUCCESS;
766 }
768 DLLEXPORT int setCollisionDetection(int axis, bool state){
769  try{
770  if(state == true){
771  katana->enableCrashLimits();
772  }
773  else katana->disableCrashLimits();
774  }
775  catch(Exception &e){
776  std::cout << "ERROR: " << e.message() << std::endl;
777  #ifdef WIN32
778  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
779  #endif
780  return ERR_FAILED;
781  }
782  return ERR_SUCCESS;
783 }
785 DLLEXPORT int setPositionCollisionLimit(int axis, int limit){
786  try{
787  katana->setPositionCollisionLimit(axis-1, limit);
788  }
789  catch(Exception &e){
790  std::cout << "ERROR: " << e.message() << std::endl;
791  #ifdef WIN32
792  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
793  #endif
794  return ERR_FAILED;
795  }
796  return ERR_SUCCESS;
797 }
799 DLLEXPORT int setVelocityCollisionLimit(int axis, int limit){
800  try{
801  katana->setSpeedCollisionLimit(axis-1, limit);
802  }
803  catch(Exception &e){
804  std::cout << "ERROR: " << e.message() << std::endl;
805  #ifdef WIN32
806  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
807  #endif
808  return ERR_FAILED;
809  }
810  return ERR_SUCCESS;
811 }
813 DLLEXPORT int setCollisionParameters(int axis, int position, int velocity){
814  try{
815  setPositionCollisionLimit(axis, position);
816  setVelocityCollisionLimit(axis, velocity);
817  }
818  catch(Exception &e){
819  std::cout << "ERROR: " << e.message() << std::endl;
820  #ifdef WIN32
821  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
822  #endif
823  return ERR_FAILED;
824  }
825  return ERR_SUCCESS;
826 }
828 DLLEXPORT int setForceLimit(int axis, int limit){
829  try{
830  katana->setForceLimit(axis, limit);
831  }
832  catch(Exception &e){
833  std::cout << "ERROR: " << e.message() << std::endl;
834  #ifdef WIN32
835  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
836  #endif
837  return ERR_FAILED;
838  }
839  return ERR_SUCCESS;
840 }
842 DLLEXPORT int getForce(int axis){
843  try{
844  return katana->getForce(axis);
845  }
846  catch(Exception &e){
847  std::cout << "ERROR: " << e.message() << std::endl;
848  #ifdef WIN32
849  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
850  #endif
851  return ERR_FAILED;
852  }
853 }
855 DLLEXPORT int getCurrentControllerType(int axis){
856  try{
857  return katana->getCurrentControllerType(axis);
858  }
859  catch(Exception &e){
860  std::cout << "ERROR: " << e.message() << std::endl;
861  #ifdef WIN32
862  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
863  #endif
864  return ERR_FAILED;
865  }
866 }
868 DLLEXPORT int unblock(){
869  try{
870  katana->unBlock();
871  }
872  catch(Exception &e){
873  std::cout << "ERROR: " << e.message() << std::endl;
874  #ifdef WIN32
875  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
876  #endif
877  return ERR_FAILED;
878  }
879  return ERR_SUCCESS;
880 }
882 DLLEXPORT int setControllerParameters(int axis, int ki, int kspeed, int kpos){
883  try{
884  katana->GetBase()->GetMOT()->arr[axis-1].setControllerParameters(kspeed, kpos, ki);
885  }
886  catch(Exception &e){
887  std::cout << "ERROR: " << e.message() << std::endl;
888  #ifdef WIN32
889  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
890  #endif
891  return ERR_FAILED;
892  }
893  return ERR_SUCCESS;
894 }
896 DLLEXPORT int setMaxVelocity(int axis, int vel){
897  try{
898  if (axis == 0){
899  for(int i = 0; i <= getNumberOfMotors()-1; i++){
900  katana->setMotorVelocityLimit(i, vel);
901  }
902  }
903  else{
904  katana->setMotorVelocityLimit(axis-1, vel);
905  }
906  katana->setMaximumLinearVelocity((double)vel);
907  }
908  catch(Exception &e){
909  std::cout << "ERROR: " << e.message() << std::endl;
910  #ifdef WIN32
911  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
912  #endif
913  return ERR_FAILED;
914  }
915  return ERR_SUCCESS;
916 }
918 DLLEXPORT int setMaxAccel(int axis, int acceleration){
919  try{
920  if (axis == 0){
921  for(int i = 0; i <= getNumberOfMotors()-1; i++){
922  katana->setMotorAccelerationLimit(i, acceleration);
923  }
924  }
925  else{
926  katana->setMotorAccelerationLimit(axis-1, acceleration);
927  }
928 
929  }
930  catch(Exception &e){
931  std::cout << "ERROR: " << e.message() << std::endl;
932  #ifdef WIN32
933  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
934  #endif
935  return ERR_FAILED;
936  }
937  return ERR_SUCCESS;
938 }
940 DLLEXPORT int getNumberOfMotors(){
941  try{
942  return katana->getNumberOfMotors();
943  }
944  catch(Exception &e){
945  std::cout << "ERROR: " << e.message() << std::endl;
946  #ifdef WIN32
947  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
948  #endif
949  return ERR_FAILED;
950  }
951  return ERR_SUCCESS;
952 }
954 DLLEXPORT int ping(int axis){
955  try{
956  //throws ParameterReadingException if unsuccessful
957  katana->GetBase()->recvECH();
958  }
959  catch(Exception &e){
960  std::cout << "ERROR: " << e.message() << std::endl;
961  #ifdef WIN32
962  MessageBox(NULL, TEXT(e.message().c_str()),TEXT("KNI ERROR"),MB_OK | MB_ICONWARNING | MB_SYSTEMMODAL);
963  #endif
964  return ERR_FAILED;
965  }
966  return ERR_SUCCESS;
967 }
969 
970 
971 
TPos::phi
double phi
the orientation of the TCP
Definition: kni_wrapper.h:53
acceleration
int acceleration
Definition: wrapper_control_demo.cpp:40
device
static std::unique_ptr< CCdlSocket > device
Definition: kni_wrapper.cpp:23
byte
unsigned char byte
type specification (8 bit)
Definition: cdlBase.h:29
executeMovement
DLLEXPORT int executeMovement(struct TMovement *movement)
Definition: kni_wrapper.cpp:482
protocol
static std::unique_ptr< CCplSerialCRC > protocol
Definition: kni_wrapper.cpp:24
PTP
Point-to-point movement.
Definition: kni_wrapper.h:58
Exception::message
std::string message() const
Definition: include/common/exception.h:93
TMovement::transition
ETransition transition
the transition to this position, PTP or LINEAR
Definition: kni_wrapper.h:67
initKatana
DLLEXPORT int initKatana(char *configFile, char *ipaddress)
This initializes the Katana (communication etc)
Definition: kni_wrapper.cpp:39
moveMotAndWait
DLLEXPORT int moveMotAndWait(int axis, int targetpos, int tolerance)
Definition: kni_wrapper.cpp:106
getVersion
int getVersion(char value[])
gets the controlboard firmware version and returns it in the value argument
Definition: kni_wrapper.cpp:744
setCollisionParameters
DLLEXPORT int setCollisionParameters(int axis, int position, int velocity)
Definition: kni_wrapper.cpp:813
moveToPosLin
DLLEXPORT int moveToPosLin(struct TPos *targetPos, int velocity, int acceleration)
moves in LM
Definition: kni_wrapper.cpp:325
setPositionCollisionLimit
DLLEXPORT int setPositionCollisionLimit(int axis, int limit)
Definition: kni_wrapper.cpp:785
TM_ENDLESS
#define TM_ENDLESS
timeout symbol for &#39;endless&#39; waiting
Definition: kmlBase.h:51
CCplSerialCRC
Implement the Serial-Zero protocol.
Definition: cplSerial.h:137
TMovement::pos
TPos pos
The position, see above struct TPos.
Definition: kni_wrapper.h:65
motorOn
DLLEXPORT int motorOn(int axis)
Definition: kni_wrapper.cpp:121
moveToPos
DLLEXPORT int moveToPos(struct TPos *pos, int velocity, int acceleration)
moves in IK
Definition: kni_wrapper.cpp:309
DLLEXPORT
#define DLLEXPORT
Definition: kni_wrapper.h:30
pushMovementToStack
DLLEXPORT int pushMovementToStack(struct TMovement *movement, char *name)
Definition: kni_wrapper.cpp:341
getAxisFirmwareVersion
int getAxisFirmwareVersion(int axis, char value[])
gets the axis firmware version and returns it in the value argument
Definition: kni_wrapper.cpp:719
getNumberOfMotors
DLLEXPORT int getNumberOfMotors()
returns the number of motors configured
Definition: kni_wrapper.cpp:940
TMotTPS
[TPS] target position
Definition: kmlMotBase.h:103
ModBusTCP_writeWord
DLLEXPORT int ModBusTCP_writeWord(int address, int value)
Definition: kni_wrapper.cpp:546
getEncoder
int getEncoder(int axis, int &value)
Definition: kni_wrapper.cpp:704
allMotorsOff
DLLEXPORT int allMotorsOff()
Definition: kni_wrapper.cpp:149
TPos
extern C because we want to access these interfaces from anywhere:
Definition: kni_wrapper.h:49
TPos::Z
double Z
Definition: kni_wrapper.h:51
MCF_CLEAR_MOVEBUFFER
clear the movebuffer
Definition: kmlMotBase.h:53
clearMoveBuffers
DLLEXPORT int clearMoveBuffers()
clears the movebuffers
Definition: kni_wrapper.cpp:655
closeGripper
DLLEXPORT int closeGripper()
Definition: kni_wrapper.cpp:195
kni_wrapper.h
TMovement::velocity
int velocity
The velocitiy for this particular movement.
Definition: kni_wrapper.h:69
setMaxAccel
DLLEXPORT int setMaxAccel(int axis, int acceleration)
Definition: kni_wrapper.cpp:918
openGripper
DLLEXPORT int openGripper()
Definition: kni_wrapper.cpp:209
allMotorsOn
DLLEXPORT int allMotorsOn()
Definition: kni_wrapper.cpp:163
ModBusTCP_readWord
int ModBusTCP_readWord(int address, int &value)
reads a value from the register &#39;address&#39; (if not connected, connect to the IP in katana...
Definition: kni_wrapper.cpp:570
numberOfMotors
int numberOfMotors
Definition: kni_wrapper.cpp:31
IO_readInput
int IO_readInput(int inputNr, int &value)
Definition: kni_wrapper.cpp:621
motorOff
DLLEXPORT int motorOff(int axis)
Definition: kni_wrapper.cpp:135
getCurrentControllerType
DLLEXPORT int getCurrentControllerType(int axis)
Definition: kni_wrapper.cpp:855
IO_setOutput
DLLEXPORT int IO_setOutput(char output, int value)
Definition: kni_wrapper.cpp:596
movement_vector
std::vector< TMovement * > movement_vector
Definition: wrapper_control_demo.cpp:42
LINEAR
linear movement
Definition: kni_wrapper.h:60
getPosition
DLLEXPORT int getPosition(struct TPos *pos)
gets a position
Definition: kni_wrapper.cpp:295
unblock
DLLEXPORT int unblock()
unblocks the robot after collision/instantstop
Definition: kni_wrapper.cpp:868
katana
static std::unique_ptr< CLMBase > katana
Definition: kni_wrapper.cpp:22
executeConnectedMovement
DLLEXPORT int executeConnectedMovement(struct TMovement *movement, struct TPos *startPos, bool first, bool last)
Definition: kni_wrapper.cpp:496
CCdlSocket
Encapsulates the socket communication device.
Definition: cdlSocket.h:65
moveToPosEnc
DLLEXPORT int moveToPosEnc(int enc1, int enc2, int enc3, int enc4, int enc5, int enc6, int velocity, int acceleration, int tolerance, bool _wait)
Definition: kni_wrapper.cpp:223
setMaxVelocity
DLLEXPORT int setMaxVelocity(int axis, int vel)
Definition: kni_wrapper.cpp:896
TMovement::acceleration
int acceleration
the acceleration for this particular movement
Definition: kni_wrapper.h:71
ERR_SUCCESS
Definition: kni_wrapper.h:38
TPos::X
double X
The position in cartesian space.
Definition: kni_wrapper.h:51
deleteMovementFromStack
DLLEXPORT int deleteMovementFromStack(char *name, int index)
Definition: kni_wrapper.cpp:359
CLMBase
Linear movement Class.
Definition: lmBase.h:73
runThroughMovementStack
DLLEXPORT int runThroughMovementStack(char *name, int loops)
Definition: kni_wrapper.cpp:426
enc
int enc[10]
Definition: kni_wrapper_demo.cpp:40
getDrive
int getDrive(int axis, int &value)
Definition: kni_wrapper.cpp:688
TPos::psi
double psi
Definition: kni_wrapper.h:53
TMovement
structure for the
Definition: kni_wrapper.h:63
getVelocity
int getVelocity(int axis, int &value)
Definition: kni_wrapper.cpp:672
sendSplineToMotor
DLLEXPORT int sendSplineToMotor(int axis, int targetpos, int duration, int p0, int p1, int p2, int p3)
Definition: kni_wrapper.cpp:252
startSplineMovement
DLLEXPORT int startSplineMovement(int contd, int exactflag)
Definition: kni_wrapper.cpp:266
setForceLimit
DLLEXPORT int setForceLimit(int axis, int limit)
Definition: kni_wrapper.cpp:828
velocity
int velocity
Definition: wrapper_control_demo.cpp:41
TPos::Y
double Y
Definition: kni_wrapper.h:51
setCollisionDetection
DLLEXPORT int setCollisionDetection(int axis, bool state)
Definition: kni_wrapper.cpp:768
packet
byte packet[32]
Definition: kni_wrapper.cpp:33
size
byte size
Definition: kni_wrapper.cpp:35
setControllerParameters
DLLEXPORT int setControllerParameters(int axis, int ki, int kspeed, int kpos)
Definition: kni_wrapper.cpp:882
deleteMovementStack
DLLEXPORT int deleteMovementStack(char *name)
deletes a movemnt stack
Definition: kni_wrapper.cpp:396
flushMoveBuffers
DLLEXPORT int flushMoveBuffers()
flush all the movebuffers
Definition: kni_wrapper.cpp:281
ping
DLLEXPORT int ping(int axis)
Definition: kni_wrapper.cpp:954
buffer
byte buffer[256]
Definition: kni_wrapper.cpp:34
calibrate
DLLEXPORT int calibrate(int axis)
Definition: kni_wrapper.cpp:63
movements
std::map< std::string, std::vector< TMovement > > movements
Definition: kni_wrapper.cpp:27
moveMot
DLLEXPORT int moveMot(int axis, int enc, int speed, int accel)
Definition: kni_wrapper.cpp:77
getForce
DLLEXPORT int getForce(int axis)
set the current force
Definition: kni_wrapper.cpp:842
encoders
std::vector< int > encoders
Definition: kni_wrapper.cpp:29
setGripper
DLLEXPORT int setGripper(bool hasGripper)
Definition: kni_wrapper.cpp:177
TPos::theta
double theta
Definition: kni_wrapper.h:53
waitForMot
DLLEXPORT int waitForMot(int axis, int targetpos, int tolerance)
Definition: kni_wrapper.cpp:92
setVelocityCollisionLimit
DLLEXPORT int setVelocityCollisionLimit(int axis, int limit)
Definition: kni_wrapper.cpp:799

kni
Author(s): Martin Günther
autogenerated on Fri Jun 7 2019 22:06:44