#include <khi_robot_krnx_driver.h>

Inheritance diagram for khi_robot_control::KhiRobotKrnxDriver:

Public Member Functions
bool	activate (const int &cont_no, KhiRobotData &data) override

bool	close (const int &cont_no) override

bool	commandHandler (khi_robot_msgs::KhiRobotCmd::Request &req, khi_robot_msgs::KhiRobotCmd::Response &res) override

bool	deactivate (const int &cont_no, const KhiRobotData &data) override

bool	getPeriodDiff (const int &cont_no, double &diff) override

bool	hold (const int &cont_no, const KhiRobotData &data) override

bool	initialize (const int &cont_no, const double &period, KhiRobotData &data, const bool in_simulation=false) override

	KhiRobotKrnxDriver ()

bool	open (const int &cont_no, const std::string &ip_address, KhiRobotData &data) override

bool	readData (const int &cont_no, KhiRobotData &data) override

bool	setState (const int &cont_no, const int &state)

bool	updateState (const int &cont_no, const KhiRobotData &data) override

bool	writeData (const int &cont_no, const KhiRobotData &data) override

	~KhiRobotKrnxDriver ()

Public Member Functions inherited from khi_robot_control::KhiRobotDriver
bool	contLimitCheck (const int &cont_no, const int &limit)

void	errorPrint (const char *format,...)

int	getState (const int &cont_no)

std::string	getStateName (const int &cont_no)

int	getStateTrigger (const int &cont_no)

void	infoPrint (const char *format,...)

bool	isTransitionState (const int &cont_no)

void	jointPrint (std::string name, const KhiRobotData &data)

	KhiRobotDriver ()

bool	setState (const int &cont_no, const int &state)

bool	setStateTrigger (const int &cont_no, const int &state_trigger)

void	warnPrint (const char *format,...)

virtual	~KhiRobotDriver ()

Private Member Functions
bool	conditionCheck (const int &cont_no, const KhiRobotData &data)

int	execAsMonCmd (const int &cont_no, const char cmd, char buffer, int buffer_sz, int *as_err_code)

bool	getCurMotionData (const int &cont_no, const int &robot_no, TKrnxCurMotionData *p_motion_data)

bool	loadDriverParam (const int &cont_no, KhiRobotData &data)

bool	loadRtcProg (const int &cont_no, const std::string &name)

bool	retKrnxRes (const int &cont_no, const std::string &name, const int &ret, const bool error=true)

bool	setRobotDataHome (const int &cont_no, KhiRobotData &data)

std::vector< std::string >	splitString (const std::string &str, const char &del)

bool	syncRtcPos (const int &cont_no, KhiRobotData &data)

Private Attributes
char	cmd_buf [KRNX_MSGSIZE]

char	msg_buf [KRNX_MSGSIZE]

std::mutex	mutex_state [KRNX_MAX_CONTROLLER]

KhiRobotKrnxRtcData	rtc_data [KRNX_MAX_CONTROLLER]

int	sw_dblrefflt [KRNX_MAX_CONTROLLER]

Additional Inherited Members
Protected Attributes inherited from khi_robot_control::KhiRobotDriver
KhiRobotControllerInfo	cont_info [KHI_MAX_CONTROLLER]

std::string	driver_name

int	error_code

bool	in_simulation

int	return_code

Detailed Description

Definition at line 92 of file khi_robot_krnx_driver.h.

Constructor & Destructor Documentation

◆ KhiRobotKrnxDriver()

khi_robot_control::KhiRobotKrnxDriver::KhiRobotKrnxDriver ( )

Definition at line 81 of file khi_robot_krnx_driver.cpp.

◆ ~KhiRobotKrnxDriver()

khi_robot_control::KhiRobotKrnxDriver::~KhiRobotKrnxDriver ( )

Definition at line 91 of file khi_robot_krnx_driver.cpp.

Member Function Documentation

◆ activate()

bool khi_robot_control::KhiRobotKrnxDriver::activate	(	const int &	cont_no,
		KhiRobotData &	data
	)

overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 283 of file khi_robot_krnx_driver.cpp.

◆ close()

bool khi_robot_control::KhiRobotKrnxDriver::close ( const int & cont_no )

overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 253 of file khi_robot_krnx_driver.cpp.

◆ commandHandler()

bool khi_robot_control::KhiRobotKrnxDriver::commandHandler	(	khi_robot_msgs::KhiRobotCmd::Request &	req,
		khi_robot_msgs::KhiRobotCmd::Response &	res
	)

overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 958 of file khi_robot_krnx_driver.cpp.

◆ conditionCheck()

bool khi_robot_control::KhiRobotKrnxDriver::conditionCheck	(	const int &	cont_no,
		const KhiRobotData &	data
	)

private

Definition at line 147 of file khi_robot_krnx_driver.cpp.

◆ deactivate()

bool khi_robot_control::KhiRobotKrnxDriver::deactivate	(	const int &	cont_no,
		const KhiRobotData &	data
	)

overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 443 of file khi_robot_krnx_driver.cpp.

◆ execAsMonCmd()

int khi_robot_control::KhiRobotKrnxDriver::execAsMonCmd	(	const int &	cont_no,
		const char *	cmd,
		char *	buffer,
		int	buffer_sz,
		int *	as_err_code
	)

private

Definition at line 115 of file khi_robot_krnx_driver.cpp.

◆ getCurMotionData()

bool khi_robot_control::KhiRobotKrnxDriver::getCurMotionData	(	const int &	cont_no,
		const int &	robot_no,
		TKrnxCurMotionData *	p_motion_data
	)

private

Definition at line 637 of file khi_robot_krnx_driver.cpp.

◆ getPeriodDiff()

bool khi_robot_control::KhiRobotKrnxDriver::getPeriodDiff	(	const int &	cont_no,
		double &	diff
	)

overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 812 of file khi_robot_krnx_driver.cpp.

◆ hold()

bool khi_robot_control::KhiRobotKrnxDriver::hold	(	const int &	cont_no,
		const KhiRobotData &	data
	)

overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 427 of file khi_robot_krnx_driver.cpp.

◆ initialize()

bool khi_robot_control::KhiRobotKrnxDriver::initialize	(	const int &	cont_no,
		const double &	period,
		KhiRobotData &	data,
		const bool	in_simulation = `false`
	)

overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 198 of file khi_robot_krnx_driver.cpp.

◆ loadDriverParam()

bool khi_robot_control::KhiRobotKrnxDriver::loadDriverParam	(	const int &	cont_no,
		KhiRobotData &	data
	)

private

Definition at line 481 of file khi_robot_krnx_driver.cpp.

◆ loadRtcProg()

bool khi_robot_control::KhiRobotKrnxDriver::loadRtcProg	(	const int &	cont_no,
		const std::string &	name
	)

private

Definition at line 868 of file khi_robot_krnx_driver.cpp.

◆ open()

bool khi_robot_control::KhiRobotKrnxDriver::open	(	const int &	cont_no,
		const std::string &	ip_address,
		KhiRobotData &	data
	)

overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 213 of file khi_robot_krnx_driver.cpp.

◆ readData()

bool khi_robot_control::KhiRobotKrnxDriver::readData	(	const int &	cont_no,
		KhiRobotData &	data
	)

overridevirtual

public read function

Implements khi_robot_control::KhiRobotDriver.

Definition at line 564 of file khi_robot_krnx_driver.cpp.

◆ retKrnxRes()

bool khi_robot_control::KhiRobotKrnxDriver::retKrnxRes	(	const int &	cont_no,
		const std::string &	name,
		const int &	ret,
		const bool	error = `true`
	)

private

Definition at line 132 of file khi_robot_krnx_driver.cpp.

◆ setRobotDataHome()

bool khi_robot_control::KhiRobotKrnxDriver::setRobotDataHome	(	const int &	cont_no,
		KhiRobotData &	data
	)

private

Definition at line 646 of file khi_robot_krnx_driver.cpp.

◆ setState()

bool khi_robot_control::KhiRobotKrnxDriver::setState	(	const int &	cont_no,
		const int &	state
	)

Definition at line 106 of file khi_robot_krnx_driver.cpp.

◆ splitString()

std::vector< std::string > khi_robot_control::KhiRobotKrnxDriver::splitString	(	const std::string &	str,
		const char &	del
	)

private

Definition at line 850 of file khi_robot_krnx_driver.cpp.

◆ syncRtcPos()

bool khi_robot_control::KhiRobotKrnxDriver::syncRtcPos	(	const int &	cont_no,
		KhiRobotData &	data
	)

private

Definition at line 937 of file khi_robot_krnx_driver.cpp.

◆ updateState()

bool khi_robot_control::KhiRobotKrnxDriver::updateState	(	const int &	cont_no,
		const KhiRobotData &	data
	)

overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 763 of file khi_robot_krnx_driver.cpp.

◆ writeData()

bool khi_robot_control::KhiRobotKrnxDriver::writeData	(	const int &	cont_no,
		const KhiRobotData &	data
	)

overridevirtual

public write function

Implements khi_robot_control::KhiRobotDriver.

Definition at line 685 of file khi_robot_krnx_driver.cpp.

Member Data Documentation

◆ cmd_buf

char khi_robot_control::KhiRobotKrnxDriver::cmd_buf[KRNX_MSGSIZE]

private

Definition at line 113 of file khi_robot_krnx_driver.h.

◆ msg_buf

char khi_robot_control::KhiRobotKrnxDriver::msg_buf[KRNX_MSGSIZE]

private

Definition at line 114 of file khi_robot_krnx_driver.h.

◆ mutex_state

std::mutex khi_robot_control::KhiRobotKrnxDriver::mutex_state[KRNX_MAX_CONTROLLER]

private

Definition at line 116 of file khi_robot_krnx_driver.h.

◆ rtc_data

KhiRobotKrnxRtcData khi_robot_control::KhiRobotKrnxDriver::rtc_data[KRNX_MAX_CONTROLLER]

private

Definition at line 119 of file khi_robot_krnx_driver.h.

◆ sw_dblrefflt

int khi_robot_control::KhiRobotKrnxDriver::sw_dblrefflt[KRNX_MAX_CONTROLLER]

private

Definition at line 115 of file khi_robot_krnx_driver.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ KhiRobotKrnxDriver()

◆ ~KhiRobotKrnxDriver()

Member Function Documentation

◆ activate()

◆ close()

◆ commandHandler()

◆ conditionCheck()

◆ deactivate()

◆ execAsMonCmd()

◆ getCurMotionData()

◆ getPeriodDiff()

◆ hold()

◆ initialize()

◆ loadDriverParam()

◆ loadRtcProg()

◆ open()

◆ readData()

◆ retKrnxRes()

◆ setRobotDataHome()

◆ setState()

◆ splitString()

◆ syncRtcPos()

◆ updateState()

◆ writeData()

Member Data Documentation

◆ cmd_buf

◆ msg_buf

◆ mutex_state

◆ rtc_data

◆ sw_dblrefflt