commands.cpp

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/**********************************************************************************
 *   Katana Native Interface - A C++ interface to the robot arm Katana.
 *   Copyright (C) 2005-2008 Neuronics AG
 *   Check out the AUTHORS file for detailed contact information.
 *   This program is free software; you can redistribute it and/or modify
 *   it under the terms of the GNU General Public License as published by
 *   the Free Software Foundation; either version 2 of the License, or
 *   (at your option) any later version.
 *   This program is distributed in the hope that it will be useful,
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *   GNU General Public License for more details.
 *   You should have received a copy of the GNU General Public License
 *   along with this program; if not, write to the Free Software
 *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 **********************************************************************************/
// commands.cpp
// demo program for KNI libraries
#include "kniBase.h"
#include "../../include/KNI/kmlMotBase.h"
#include <iostream>
#include <cstdio>
#include <memory>
#ifdef WIN32
#       include <conio.h>
#else //LINUX
#       include "keyboard.h"
#endif

//Katana object
std::auto_ptr<CLMBase> katana;
void DisplayHelp() {
        std::cout << std::endl;
        std::cout << "-------------------------------------------" << std::endl;
        std::cout << "Esc: quit program" << std::endl;
        std::cout << "?: Display this help" << std::endl;
        std::cout << "j: Calibrate the Katana" << std::endl;
        std::cout << "c: Set target position, freeze or switch motor off (C Command)" << std::endl;
        std::cout << "C: Set encoder offset (C Command (motNr. + 128))" << std::endl;
        std::cout << "d: Read the position, velocity and pwm duty cycle of a motor (D Command)" << std::endl;
        std::cout << "s: Set and read parameters and limits (S Command)" << std::endl;
        std::cout << "n: Get all motors command flags or positions at once (N Command)" << std::endl;
        std::cout << "g: Set the single polynomial movement parameters (G Command)" << std::endl;
        std::cout << "G: Start the single polynomial movement (G+128 Command)" << std::endl;
        std::cout << "a: Switch collision detection On and Off (A Command)" << std::endl;
        std::cout << "z: Read Echo (Z Command)" << std::endl;
        std::cout << "y: Read the Identification String (Y Command)" << std::endl;
        std::cout << "x: Read the Katana Command Table (X Command)" << std::endl;
        std::cout << "e: Read Gripper Sensor Data (E Command)" << std::endl;
        std::cout << "b: Read the Master firmware-version (B Command)" << std::endl;
        std::cout << "v: Read the Slave firmware-version (V Command)" << std::endl;
        std::cout << "i: Get motCommand from slave (I Command)" << std::endl;
        std::cout << "m: Modbus read and write (M Command)" << std::endl;
        std::cout << "t: Katana 1.2 I/O (T Command)" << std::endl;
        std::cout << "o: Navigation Control (O Command)" << std::endl;
        std::cout << "-------------------------------------------" << std::endl;
}
// convert two bytes (hi and lo) to short
short b2s(byte hi, byte lo) {
        return (((short) hi) << 8) + ((short) lo);
}
int main(int argc, char *argv[]) {

        if (argc != 3) {
                std::cout << "usage for socketcommands: socketcommands CONFIGFILE"
                        << " IP_ADDR" << std::endl;
                return 0;
        }

        std::cout << "---------------------------" << std::endl;
        std::cout << "SOCKETCOMMANDS DEMO STARTED" << std::endl;
        std::cout << "---------------------------" << std::endl;

        //----------------------------------------------------------------//
        //open device: a serial port is opened in this case
        //----------------------------------------------------------------//

                
        std::auto_ptr<CCdlSocket> device;
        std::auto_ptr<CCplSerialCRC> protocol;

        try {

                int port = 5566;
                device.reset(new CCdlSocket(argv[2], port));
                
                std::cout << "-------------------------------------------" << std::endl;
                std::cout << "success:  port " << port << " open" << std::endl;
                std::cout << "-------------------------------------------" << std::endl;

                //--------------------------------------------------------//
                //init protocol:
                //--------------------------------------------------------//

                protocol.reset(new CCplSerialCRC());
                protocol->init(device.get());
                std::cout << "-------------------------------------------" << std::endl;
                std::cout << "success: protocol initiated" << std::endl;
                std::cout << "-------------------------------------------" << std::endl;


                //--------------------------------------------------------//
                //init robot:
                //--------------------------------------------------------//

                katana.reset(new CLMBase());
                katana->create(argv[1], protocol.get());


        } catch(Exception &e) {
                std::cout << "ERROR: " << e.message() << std::endl;
                return -1;
        }
        std::cout << "-------------------------------------------" << std::endl;
        std::cout << "success: katana initiated" << std::endl;
        std::cout << "-------------------------------------------" << std::endl;

        DisplayHelp();
        
        // declare variables used in loop
        byte    packet[32]; //packet
        byte    buffer[256]; //readbuf
        byte    size = 0; //readbuf size
        short param1, param2, param3, param4, param5, param6, param7;
        char p1, p2;
        int i;

        bool loop = true;

        while (loop) {

                int input = _getch();

                try {
                        switch (input) {
                        case 27: //VK_ESCAPE
                                loop = false;
                                break;

                        case '?':
                                DisplayHelp();
                                break;

                        case 'j': //VK_J (Calibration)
                                std::cout << std::endl;
                                std::cout << "Calibrating Katana... ";
                                katana->calibrate();
                                std::cout << "finished." << std::endl;
                                break;

                        case 'c': //VK_C (C Command)
                                std::cout << std::endl;
                                std::cout << "Set target position of a motor, freeze or "
                                        << "switch motors off (C Command)" << std::endl;

                                // get parameters
                                std::cout << " motor number: ";
                                std::cin >> param1;
                                if ((param1 < 1) || (param1 > 6)) {
                                        break;
                                }
                                std::cout << " motor command flag: ";
                                std::cin >> param2;
                                std::cout << " targetposition: ";
                                std::cin >> param3;

                                // create packet
                                packet[0] = 'C';
                                packet[1] = (byte) param1;
                                packet[2] = (byte) param2;
                                packet[3] = (byte) (param3 >> 8);
                                packet[4] = (byte) param3;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 3)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "," << (short) buffer[1] << "," << (short) buffer[2]
                                                << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'C': //VK_C (C Command (motNr. + 128))
                                std::cout << std::endl;
                                std::cout << "Set encoder offset (C Command (motNr. + 128))"
                                        << std::endl;

                                // get parameters
                                std::cout << " motor number: ";
                                std::cin >> param1;
                                if ((param1 < 1) || (param1 > 6)) {
                                        break;
                                }
                                param1 += 128;
                                std::cout << " motor command flag: ";
                                std::cin >> param2;
                                std::cout << " offset position: ";
                                std::cin >> param3;

                                // create packet
                                packet[0] = 'C';
                                packet[1] = (byte) param1;
                                packet[2] = (byte) param2;
                                packet[3] = (byte) (param3 >> 8);
                                packet[4] = (byte) param3;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 3)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "," << (short) buffer[1] - 128 << "," << (short) buffer[2]
                                                << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'd': //VK_D (D Command)
                                std::cout << std::endl;
                                std::cout << "Read the position, velocity and pwm duty cycle "
                                        << "of a motor (D Command)" << std::endl;

                                // get parameters
                                std::cout << " motor number: ";
                                std::cin >> param1;
                                if ((param1 < 1) || (param1 > 6)) {
                                        break;
                                }

                                // create packet
                                packet[0] = 'D';
                                packet[1] = (byte) param1;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 8)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "," << (short) buffer[1] << "," << (short) buffer[2]
                                                << "," << b2s(buffer[3], buffer[4]) << ","
                                                << b2s(buffer[5], buffer[6]) << ","
                                                << (short) buffer[7] << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 's': //VK_S (S Command)
                                std::cout << std::endl;
                                std::cout << "Set and read parameters and limits (S Command)"
                                        << std::endl;

                                // get parameters
                                std::cout << " motor number: ";
                                std::cin >> param1;
                                if ((param1 < 1) || (param1 > 6)) {
                                        break;
                                }
                                std::cout << " subcommand: ";
                                std::cin >> param2;
                                std::cout << " P1: ";
                                std::cin >> param3;
                                std::cout << " P2: ";
                                std::cin >> param4;
                                std::cout << " P3: ";
                                std::cin >> param5;

                                // create packet
                                packet[0] = 'S';
                                packet[1] = (byte) param1;
                                packet[2] = (byte) param2;
                                packet[3] = (byte) param3;
                                packet[4] = (byte) param4;
                                packet[5] = (byte) param5;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 6)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "," << (short) buffer[1] << "," << (short) buffer[2]
                                                << "," << (short) buffer[3] << "," << (short) buffer[4]
                                                << "," << (short) buffer[5] << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'n': //VK_N (N Command)
                                std::cout << std::endl;
                                std::cout << "Get all motors command flags or positions at "
                                        << "once (N Command)" << std::endl;

                                // get parameters
                                std::cout << " subcommand: ";
                                std::cin >> param1;
                                std::cout << " subsubcommand: ";
                                std::cin >> param2;

                                // create packet
                                packet[0] = 'N';
                                packet[1] = (byte) param1;
                                packet[2] = (byte) param2;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size < 2)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0];
                                        for (i = 1; i < (short) size; i++) {
                                                std::cout << "," << (short) buffer[i];
                                        }
                                        std::cout << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'g': //VK_G (G Command)
                                std::cout << std::endl;
                                std::cout << "Set the single polynomial movement parameters "
                                        << "(G Command)" << std::endl;

                                // get parameters
                                std::cout << " motor number: ";
                                std::cin >> param1;
                                if ((param1 < 1) || (param1 > 6)) {
                                        break;
                                }
                                std::cout << " target pos: ";
                                std::cin >> param2;
                                std::cout << " time: ";
                                std::cin >> param3;
                                std::cout << " P10: ";
                                std::cin >> param4;
                                std::cout << " P11: ";
                                std::cin >> param5;
                                std::cout << " P12: ";
                                std::cin >> param6;
                                std::cout << " P13: ";
                                std::cin >> param7;

                                // create packet
                                packet[0] = 'G';
                                packet[1] = (byte) param1;
                                packet[2] = (byte) (param2 >> 8);
                                packet[3] = (byte) param2;
                                packet[4] = (byte) (param3 >> 8);
                                packet[5] = (byte) param3;
                                packet[6] = (byte) (param4 >> 8);
                                packet[7] = (byte) param4;
                                packet[8] = (byte) (param5 >> 8);
                                packet[9] = (byte) param5;
                                packet[10] = (byte) (param6 >> 8);
                                packet[11] = (byte) param6;
                                packet[12] = (byte) (param7 >> 8);
                                packet[13] = (byte) param7;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 2)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "," << (short) buffer[1] << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'G': //VK_G (G+128 Command)
                                std::cout << std::endl;
                                std::cout << "Start the single polynomial movement "
                                        << "(G+128 Command)" << std::endl;

                                // get parameters
                                std::cout << " subcommand: ";
                                std::cin >> param1;
                                std::cout << " exact flag: ";
                                std::cin >> param2;

                                // create packet
                                packet[0] = 'G' | 0x80;
                                packet[1] = (byte) param1;
                                packet[2] = (byte) param2;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 2)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << " (g+128)," << (short) buffer[1] << "<"
                                                << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'a': //VK_A (A Command)
                                std::cout << std::endl;
                                std::cout << "Switch collision detection On and Off "
                                        << "(A Command)" << std::endl;

                                // get parameters
                                std::cout << " master: ";
                                std::cin >> param1;
                                std::cout << " slave: ";
                                std::cin >> param2;

                                // create packet
                                packet[0] = 'A';
                                packet[1] = (byte) param1;
                                packet[2] = (byte) param2;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 2)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "," << (short) buffer[1] << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'z': //VK_Z (Z Command)
                                std::cout << std::endl;
                                std::cout << "Read Echo (Z Command)" << std::endl;

                                // create packet
                                packet[0] = 'Z';

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 1)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'y': //VK_Y (Y Command)
                                std::cout << std::endl;
                                std::cout << "Read the Identification String (Y Command)"
                                        << std::endl;

                                // create packet
                                packet[0] = 'Y';

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0]) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        buffer[82] = 0; // terminate c-string before \r\n
                                        std::cout << " answer:" << std::endl << "  >" << buffer
                                                << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                                buffer[0] = 0x00;
                                break;

                        case 'x': //VK_X (X Command)
                                std::cout << std::endl;
                                std::cout << "Read the Katana Command Table (X Command)"
                                        << std::endl;

                                // create packet
                                packet[0] = 'X';

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size < 7) || (((short) size)%6 != 1))
                                                {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "(command table)<" << std::endl << " command table:"
                                                << std::endl;
                                        for (i = 0; i < (((short) size - 1) / 6); i++) {
                                                std::cout << "  " << (short) buffer[6*i+1] << ",";
                                                if ((short) buffer[6*i+2] < 128) {
                                                        std::cout << buffer[6*i+2];
                                                } else {
                                                        std::cout << (char) (buffer[6*i+2] & 0x7f)
                                                                << "+128";
                                                }
                                                std::cout << "," << (short) buffer[6*i+3] << ","
                                                        << (short) buffer[6*i+4] << ","
                                                        << (short) buffer[6*i+5] << ",";
                                                if ((short) buffer[6*i+6] < 128) {
                                                        std::cout << buffer[6*i+6];
                                                } else {
                                                        std::cout << (char) (buffer[6*i+6] & 0x7f)
                                                                << "+128";
                                                }
                                                std::cout << std::endl;
                                        }
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'e': //VK_E (E Command)
                                std::cout << std::endl;
                                std::cout << "Read Gripper Sensor Data (E Command)"
                                        << std::endl;

                                // get parameters
                                std::cout << " sensor controller number: ";
                                std::cin >> param1;
                                if (param1 != 15) {
                                        break;
                                }

                                // create packet
                                packet[0] = 'E';
                                packet[1] = (byte) param1;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 18)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "," << (short) buffer[1];
                                        for (i = 2; i < (short) size; i++) {
                                                std::cout << "," << (short) buffer[i];
                                        }
                                        std::cout << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'b': //VK_B (B Command)
                                std::cout << std::endl;
                                std::cout << "Read the Master firmware-version (B Command)"
                                        << std::endl;

                                // create packet
                                packet[0] = 'B';

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 3)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "," << (short) buffer[1] << "," << (short) buffer[2]
                                                << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'v': //VK_V (V Command)
                                std::cout << std::endl;
                                std::cout << "Read the Slave firmware-version (V Command)"
                                        << std::endl;

                                // get parameters
                                std::cout << " motor number: ";
                                std::cin >> param1;
                                if ((param1 < 1) || (param1 > 6)) {
                                        break;
                                }

                                // create packet
                                packet[0] = 'V';
                                packet[1] = (byte) param1;
                                packet[2] = 32;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 13)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0];
                                        for (i = 1; i < (short) size; i++) {
                                                std::cout << "," << (short) buffer[i];
                                        }
                                        std::cout << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'i': //VK_I (I Command)
                                std::cout << std::endl;
                                std::cout << "Get motCommand from slave (I Command)"
                                        << std::endl;

                                // get parameters
                                std::cout << " motor number: ";
                                std::cin >> param1;
                                if ((param1 < 1) || (param1 > 6)) {
                                        break;
                                }

                                // create packet
                                packet[0] = 'I';
                                packet[1] = (byte) param1;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 3)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "," << (short) buffer[1] << "," << (short) buffer[2]
                                                << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'm': //VK_M (M Command)
                                std::cout << std::endl;
                                std::cout << "Modbus read and writes (M Command)" << std::endl;

                                // get parameters
                                std::cout << " 'R'ead or 'W'rite: ";
                                std::cin >> p1;
                                if ((p1 != 'R') && (p1 != 'W')) {
                                        break;
                                }
                                std::cout << " register: ";
                                std::cin >> param2;
                                std::cout << " value: ";
                                std::cin >> param3;

                                // create packet
                                packet[0] = 'M';
                                packet[1] = (byte) p1;
                                packet[2] = (byte) param2;
                                packet[3] = (byte) (param3 >> 8);
                                packet[4] = (byte) param3;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 4)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "," << b2s(buffer[1], buffer[2]) << ","
                                                << (short) buffer[3] << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 't': //VK_T (T Command)
                                std::cout << std::endl;
                                std::cout << "Katana 1.2 I/O (T Command)" << std::endl;

                                // get parameters
                                std::cout << " read (r), write (w) or set LED (l): ";
                                std::cin >> p1;
                                if ((p1 != 'r') && (p1 != 'w') && (p1 != 'l')) {
                                        break;
                                }
                                if (p1 == 'w') {
                                        std::cout << " value to write: ";
                                        std::cin >> param2;
                                } else if (p1 == 'l') {
                                        std::cout << " set led to 'r'ed, 'g'reen or '0'(off): ";
                                        std::cin >> p2;
                                        if ((param2 == 'r') || (param2 == 'g')) {
                                                param2 = (short) p2;
                                        } else {
                                                param2 = 0;
                                        }
                                } else {
                                        param2 = 0;
                                }

                                // create packet
                                packet[0] = 'T';
                                packet[1] = (byte) p1;
                                packet[2] = (byte) param2;
                                packet[3] = 0;
                                packet[4] = 0;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 2)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "," << (short) buffer[1] << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        case 'o': //VK_O (O Command)
                                std::cout << std::endl;
                                std::cout << "Navigation Control (O Command)"
                                        << std::endl;

                                // get parameters
                                std::cout << " command: ";
                                std::cin >> param1;
                                if ((param1 < 0) || (param1 > 3)) {
                                        break;
                                }
                                //std::cout << " CVar1: ";
                                //std::cin >> param2;
                                param2 = 0;

                                // create packet
                                packet[0] = 'O';
                                packet[1] = (byte) param1;
                                packet[2] = (byte) param2;

                                // communicate packet
                                protocol->comm(packet, buffer, &size);
                                if (!buffer[0] || ((short) size != 3)) {
                                        std::cout << " command failed!" << std::endl;
                                } else {
                                        std::cout << " answer:" << std::endl << "  >" << buffer[0]
                                                << "," << (short) buffer[1] << "," << (short) buffer[2]
                                                << "<" << std::endl;
                                }
                                buffer[0] = 0x00;
                                break;

                        default: //Error message
                                std::cout << "\n'" << input << "' is not a valid command.\n"
                                        << std::endl;
                                break;
                        }

                } catch (Exception &e) {
                        std::cout << "\nERROR: " << e.message() << std::endl;
                }

        }
        return 0;
}