FS100 robot commander class. More...

#include <fs100_cmd.h>

Public Member Functions
bool	addCmdToQueue (cmd cmd_point)
	Adds a command to internal queue.
bool	addPointToQueue (float pos[6], float vel[6], float time)
	Adds a point to internal queue.
	Fs100Cmd (const char *ip)
	Constructor.
int	init ()
	Initiator.
int	makeConnect ()
	Creates connection.
void	pgmClose ()
	Closes the class.
bool	pushTraj (float pos[6], float vel[6], float time, int seq)
	Sends trajectory point.
bool	resetTrajectory (int *retry)
	Resets trajectory.
int	start (int retry)
	Starts sending thread.
Private Member Functions
int	buildTrajFull (SimpleMsg *tm, float pos[6], float vel[6], float time, int seq)
int	buildTrajPos (SimpleMsg *tm, float pos[6], float time, int seq)
void	byteSwap (char *data, int length)
void	cmdPush ()
void	deserializeMotionReply (char data, SimpleMsg msg)
int	getLength (char *data)
void	motionReady (SimpleMsg *msg)
void	printErrorCodeMsg (SimpleMsg *msg)
void	printMotionReply (SimpleMsg *msg)
void	printTrajFull (SimpleMsg *msg)
void	serialize (SimpleMsg msg, char data, int size)
void	socketError (const char *msg)
void	trajectoryStart (SimpleMsg *msg)
void	trajectoryStop (SimpleMsg *msg)
Static Private Member Functions
static void *	cmdPushThread (void *This)
Private Attributes
float	abs_time
std::queue< cmd >	cmdList
pthread_t	cmdthreadID
int	i
const char *	IP
SimpleMsg	joint_data
char	motion_reply_buffer [76]
SimpleMsg	motion_rpl
int	n
int	portno
char	raw_data [255]
int	run_thread
volatile int	seq
struct sockaddr_in	serv_addr
struct hostent *	server
int	sockfd
volatile bool	stop_all
unsigned int	thread_sleep
char	traj_buffer [152]

Detailed Description

FS100 robot commander class.

The FS100 robot commander class handles connection with port 50240, which the FS100 uses to recieve robot commands.

Definition at line 62 of file fs100_cmd.h.

Constructor & Destructor Documentation

Fs100Cmd::Fs100Cmd ( const char * ip ) [inline]

Constructor.

Constructor for FS100 commander class.

Definition at line 108 of file fs100_cmd.h.

Member Function Documentation

bool Fs100Cmd::addCmdToQueue ( cmd cmd_point )

Adds a command to internal queue.

Adds a command struct to internal queue, which will be sent to controller as fast as possible.

See also:: cmd

Parameters:

cmd_point the command struct containing trajectory data.

Definition at line 232 of file fs100_cmd.cpp.

bool Fs100Cmd::addPointToQueue	(	float	pos[6],
		float	vel[6],
		float	time
	)

Adds a point to internal queue.

Adds a trajectory point to internal queue, which will be sent to controller as fast as possible. The data provided is converted to a cmd struct and put into internal queue.

Parameters:

pos	specifies trajectory point position.
vel	specifies trajectory point velocity.
time	specifies trajectory point time from last point.

Definition at line 240 of file fs100_cmd.cpp.

int Fs100Cmd::buildTrajFull	(	SimpleMsg *	tm,
		float	pos[6],
		float	vel[6],
		float	time,
		int	seq
	)		`[private]`

Definition at line 524 of file fs100_cmd.cpp.

int Fs100Cmd::buildTrajPos	(	SimpleMsg *	tm,
		float	pos[6],
		float	time,
		int	seq
	)		`[private]`

Definition at line 491 of file fs100_cmd.cpp.

void Fs100Cmd::byteSwap	(	char *	data,
		int	length
	)		`[private]`

Definition at line 332 of file fs100_cmd.cpp.

void Fs100Cmd::cmdPush ( ) [private]

Definition at line 88 of file fs100_cmd.cpp.

void * Fs100Cmd::cmdPushThread ( void * This ) [static, private]

Definition at line 80 of file fs100_cmd.cpp.

void Fs100Cmd::deserializeMotionReply	(	char *	data,
		SimpleMsg *	msg
	)		`[private]`

Definition at line 356 of file fs100_cmd.cpp.

int Fs100Cmd::getLength ( char * data ) [private]

Definition at line 557 of file fs100_cmd.cpp.

int Fs100Cmd::init ( )

Initiator.

Initiates the sockect connection to the FS100 controller, and initializes internal variables.

Definition at line 32 of file fs100_cmd.cpp.

int Fs100Cmd::makeConnect ( )

Creates connection.

Establishes socket connection to the FS100 controller.

Definition at line 67 of file fs100_cmd.cpp.

void Fs100Cmd::motionReady ( SimpleMsg * msg ) [private]

Definition at line 566 of file fs100_cmd.cpp.

void Fs100Cmd::pgmClose ( )

Closes the class.

Closes socket connection and joins all running threads.

Definition at line 629 of file fs100_cmd.cpp.

void Fs100Cmd::printErrorCodeMsg ( SimpleMsg * msg ) [private]

Definition at line 437 of file fs100_cmd.cpp.

void Fs100Cmd::printMotionReply ( SimpleMsg * msg ) [private]

Definition at line 379 of file fs100_cmd.cpp.

void Fs100Cmd::printTrajFull ( SimpleMsg * msg ) [private]

Definition at line 403 of file fs100_cmd.cpp.

bool Fs100Cmd::pushTraj	(	float	pos[6],
		float	vel[6],
		float	time,
		int	seq
	)

Sends trajectory point.

Tries to send trajectory point to FS100 controller. Will try until success is reported by FS100 controller.

Parameters:

pos	specifies trajectory point position.
vel	specifies trajectory point velocity.
time	specifies trajectory point time from last point.
seq	speciefies trajectory point sequence number.

Definition at line 197 of file fs100_cmd.cpp.

bool Fs100Cmd::resetTrajectory ( int * retry )

Resets trajectory.

Resets current trajectory. Empties internal queue, and send trajectory stop followed by trajectory start.

Parameters:

retry specifies if the function should retry until FS100 reports success (retry = 1) or just send one message (retry = 0).

Definition at line 255 of file fs100_cmd.cpp.

void Fs100Cmd::serialize	(	SimpleMsg *	msg,
		char *	data,
		int	size
	)		`[private]`

Definition at line 349 of file fs100_cmd.cpp.

void Fs100Cmd::socketError ( const char * msg ) [private]

Definition at line 323 of file fs100_cmd.cpp.

int Fs100Cmd::start ( int retry )

Starts sending thread.

Starts thread that handles internal command queue and sends commands to FS100 controller. Also sends the first trajectory start message, powering on robot servos and making it ready for further commands.

Parameters:

retry specifies if the function should retry until FS100 reports success (retry = 1) or just send one message (retry = 0).

Definition at line 119 of file fs100_cmd.cpp.

void Fs100Cmd::trajectoryStart ( SimpleMsg * msg ) [private]

Definition at line 587 of file fs100_cmd.cpp.

void Fs100Cmd::trajectoryStop ( SimpleMsg * msg ) [private]

Definition at line 608 of file fs100_cmd.cpp.

Member Data Documentation

float Fs100Cmd::abs_time [private]

Definition at line 69 of file fs100_cmd.h.

std::queue<cmd> Fs100Cmd::cmdList [private]

Definition at line 82 of file fs100_cmd.h.

pthread_t Fs100Cmd::cmdthreadID [private]

Definition at line 76 of file fs100_cmd.h.

int Fs100Cmd::i [private]

Definition at line 66 of file fs100_cmd.h.

const char* Fs100Cmd::IP [private]

Definition at line 65 of file fs100_cmd.h.

SimpleMsg Fs100Cmd::joint_data [private]

Definition at line 77 of file fs100_cmd.h.

char Fs100Cmd::motion_reply_buffer[76] [private]

Definition at line 80 of file fs100_cmd.h.

SimpleMsg Fs100Cmd::motion_rpl [private]

Definition at line 77 of file fs100_cmd.h.

int Fs100Cmd::n [private]

Definition at line 66 of file fs100_cmd.h.

int Fs100Cmd::portno [private]

Definition at line 66 of file fs100_cmd.h.

char Fs100Cmd::raw_data[255] [private]

Definition at line 78 of file fs100_cmd.h.

int Fs100Cmd::run_thread [private]

Definition at line 66 of file fs100_cmd.h.

volatile int Fs100Cmd::seq [private]

Definition at line 67 of file fs100_cmd.h.

struct sockaddr_in Fs100Cmd::serv_addr [private]

Definition at line 74 of file fs100_cmd.h.

struct hostent* Fs100Cmd::server [private]

Definition at line 75 of file fs100_cmd.h.

int Fs100Cmd::sockfd [private]

Definition at line 66 of file fs100_cmd.h.

volatile bool Fs100Cmd::stop_all [private]

Definition at line 70 of file fs100_cmd.h.

unsigned int Fs100Cmd::thread_sleep [private]

Definition at line 68 of file fs100_cmd.h.

char Fs100Cmd::traj_buffer[152] [private]

Definition at line 79 of file fs100_cmd.h.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation