FRIComm.hh
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00001 
00002 #ifndef FRICOMM_HH
00003 #define FRICOMM_HH
00004 
00005 #include <netinet/in.h>
00006 #include <pthread.h>
00007 
00008 #include <sys/time.h>
00009 
00010 #include <friComm.h>  // KUKA proprietary header
00011 
00012 #include <string>
00013 
00014 #include "FRIData.hh"
00015 
00016 class FRICheck;
00017 
00018 
00058 class CartesianImpedanceControl;
00059 
00060 class FRIComm
00061 {
00062 public:
00063   FRIComm();
00064   ~FRIComm();
00065 
00067   void configureNetwork(int local_port, std::string remote_address, int remote_port);
00068 
00069   bool open();  
00070   void close(); 
00071 
00072   FRICheck* limitChecker() {return safety_;}
00073 
00074   RobotData data();
00075   RobotStatus status();
00076 
00077   RobotCommand cmd();
00078   void setCmd(RobotCommand cmd);
00079 
00080 
00081   void setRunstop(bool stopped);
00082   bool runstop();
00083   bool postCommand(int iData[16], float rData[16]);
00084 
00085   bool receive();  
00086   void respond();  
00087 
00088   static const char* printStatus(char* buffer,
00089                                  RobotData data,
00090                                  RobotCommand cmd,
00091                                  RobotStatus status);
00092 
00093   tFriMsrData fri_msr_;
00094   tFriCmdData fri_cmd_;
00095 private:
00096   static const float KRL_TIMEOUT=4.5;
00097   static const float KRL_GUARD_TIME = 0.8;
00098   float krl_time_;
00099   void processCommand(); 
00100   void stateHandler();   
00101 
00102   FRICheck *safety_;
00103   FRICheck *safety2_;
00104 
00105   unsigned int seq_;
00106   bool closing_;
00107   bool runstop_;
00108   
00109   int local_port_, remote_port_;
00110   std::string remote_address_;
00111   int socket_;
00112   struct sockaddr_in remote_addr_;
00113 
00114   bool useCartesianImpedance_;
00115   CartesianImpedance cartesianImpedanceCmd_;
00116 
00117   CartesianImpedanceControl* cartesianImpedance_;
00118 
00119   // time measurement helpers
00120   struct timeval last_tick;
00121   long long duration_sum;
00122   int duration_num;
00123   int duration_max;
00124   int duration_mean_published;
00125   int duration_max_published;
00126   void tick();
00127   void tock();
00128 };
00129 
00130 
00131 
00133 
00134 class FRIThread
00135 {
00136 public:
00137   FRIThread();
00138 
00140   void configureNetwork(int local_port, const char* remote_address, int remote_port);
00141 
00142   bool start();
00143 
00144   bool running();
00145   void finish();
00146 
00147   RobotData data();
00148 
00149   RobotCommand cmd();
00150   void setCmd(RobotCommand cmd);
00151 
00152   bool runstop();
00153   void setRunstop(bool stopped);
00154 
00155   RobotStatus status();
00156 
00157   FRICheck* limitChecker();
00158 
00159   void postCommand(int iData[16], float rData[16]);
00160 private:
00161   FRIComm fri;
00162 
00163   void* run();
00164   static void* run_s(void *ptr) { return ((FRIThread *) ptr)->run(); }
00165   bool exitRequested_, running_;
00166 
00167   pthread_t thread_;
00168   pthread_mutex_t mutex_;
00169 
00170   class KRLCmd {
00171   public:
00172     int iData[16];
00173     float rData[16];
00174     bool fresh;
00175   };
00176 
00177   bool runstop_buffer_;
00178   RobotData data_buffer_;
00179   RobotCommand cmd_buffer_;
00180   RobotStatus status_buffer_;
00181   KRLCmd krlcmd_buffer_;
00182 };
00183 
00184 #endif // FRICOMM_HH
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kuka_fri
Author(s): Ingo Kresse, Alexis Maldonado
autogenerated on Thu May 23 2013 05:28:18