p_var_q.h
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00001 /*
00002 * Software License Agreement (BSD License) 
00003 *
00004 * Copyright (c) 2011, Yaskawa America, Inc.
00005 * All rights reserved.
00006 *
00007 * Redistribution and use in source and binary forms, with or without
00008 * modification, are permitted provided that the following conditions are met:
00009 *
00010 *       * Redistributions of source code must retain the above copyright
00011 *       notice, this list of conditions and the following disclaimer.
00012 *       * Redistributions in binary form must reproduce the above copyright
00013 *       notice, this list of conditions and the following disclaimer in the
00014 *       documentation and/or other materials provided with the distribution.
00015 *       * Neither the name of the Yaskawa America, Inc., nor the names 
00016 *       of its contributors may be used to endorse or promote products derived
00017 *       from this software without specific prior written permission.
00018 *
00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029 * POSSIBILITY OF SUCH DAMAGE.
00030 */ 
00031 
00032 #ifndef __p_var_q_h
00033 #define __p_var_q_h
00034 
00035 #include "ros/ros.h"
00036 #include "moto_socket.h"
00037 #include "trajectory_msgs/JointTrajectory.h"
00038 #include "definitions.h"
00039 #include "utils.h"
00040 #include <queue>
00041 #include <fstream>
00042 
00043 class PVarQ
00044 // Class for position variable queue object, used to move robot
00045 {
00046   public:
00047     PVarQ(MotoSocket* sock, std::ofstream* log_file);
00048     ~PVarQ(void);
00049     void addTraj(const trajectory_msgs::JointTrajectory& traj);
00050     void sendTraj();
00051     void run();
00052 
00053   protected:
00054     struct message
00055     {
00056       int contents[11];
00057     };
00058     std::queue<message> messages; // Internal queue of messages to be sent to robot
00059     MotoSocket* sock; // Socket for communication
00060     std::ofstream* log_file; // Used for loggin communication
00061     void addMessage(int command);
00062     int sendMessage();
00063     int recvMessage();
00064     void logMessage(message log_message, bool is_send);
00065     bool ack_received;
00066     int num_traj_recv;
00067     int num_traj_send;
00068 };
00069 
00070 #endif


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Thu Jan 2 2014 11:29:36