motoman_direct_message.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2013, Southwest Research Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *      * Redistributions of source code must retain the above copyright
 *      notice, this list of conditions and the following disclaimer.
 *      * Redistributions in binary form must reproduce the above copyright
 *      notice, this list of conditions and the following disclaimer in the
 *      documentation and/or other materials provided with the distribution.
 *      * Neither the name of the Southwest Research Institute, nor the names
 *      of its contributors may be used to endorse or promote products derived
 *      from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef MOTOMAN_DIRECT_MESSAGE_H
#define MOTOMAN_DIRECT_MESSAGE_H

#define ROS_MAX_JOINT 10


//----------------
// Prefix Section
//----------------

typedef struct
{
        int length;
} SmPrefix;

//----------------
// Header Section
//----------------

typedef enum
{
        ROS_MSG_ROBOT_STATUS = 13,
        ROS_MSG_JOINT_TRAJ_PT_FULL = 14,
        ROS_MSG_JOINT_FEEDBACK = 15,
        ROS_MSG_MOTO_MOTION_CTRL = 2001,
        ROS_MSG_MOTO_MOTION_REPLY = 2002        
} SmMsgType;


typedef enum
{
    ROS_COMM_INVALID = 0,
        ROS_COMM_TOPIC = 1,
        ROS_COMM_SERVICE_RESQUEST = 2,
        ROS_COMM_SERVICE_REPLY = 3
} SmCommType;


typedef enum 
{
        ROS_REPLY_INVALID = 0,
        ROS_REPLY_SUCCESS = 1,
        ROS_REPLY_FAILURE = 2,
} SmReplyType;


typedef struct
{
        SmMsgType msgType;
        SmCommType commType;
        SmReplyType replyType;
} SmHeader;

//--------------
// Body Section
//--------------

typedef struct                                  // ROS_MSG_ROBOT_STATUS = 13
{
        int drives_powered;                     // Servo Power: -1=Unknown, 1=ON, 0=OFF
        int e_stopped;                          // Controller E-Stop state: -1=Unknown, 1=True(ON), 0=False(OFF)
        int error_code;                         // Alarm code
        int in_error;                           // Is there an alarm:   -1=Unknown, 1=True, 0=False 
        int in_motion;                          // Is currently executing a motion command:  -1=Unknown, 1=True, 0=False 
        int mode;                                       // Controller/Pendant mode: -1=Unknown, 1=Manual(TEACH), 2=Auto(PLAY)
        int motion_possible;            // Is the controller ready to receive motion: -1=Unknown, 1=ENABLED, 0=DISABLED 
} SmBodyRobotStatus;    


typedef struct                                  // ROS_MSG_JOINT_TRAJ_PT_FULL = 14
{
        int groupNo;                            // Robot/group ID;  0 = 1st robot 
        int sequence;                           // Index of point in trajectory; 0 = Initial trajectory point, which should match the robot current position.
        int validFields;                        // Bit-mask indicating which “optional” fields are filled with data. 1=time, 2=position, 4=velocity, 8=acceleration
        float time;                                     // Timestamp associated with this trajectory point; Units: in seconds 
        float pos[ROS_MAX_JOINT];       // Desired joint positions in radian.  Base to Tool joint order  
        float vel[ROS_MAX_JOINT];       // Desired joint velocities in radian/sec.  
        float acc[ROS_MAX_JOINT];       // Desired joint accelerations in radian/sec^2.
} SmBodyJointTrajPtFull;        


typedef struct                                  // ROS_MSG_JOINT_FEEDBACK = 15
{
        int groupNo;                            // Robot/group ID;  0 = 1st robot 
        int validFields;                        // Bit-mask indicating which “optional” fields are filled with data. 1=time, 2=position, 4=velocity, 8=acceleration
        float time;                                     // Timestamp associated with this trajectory point; Units: in seconds 
        float pos[ROS_MAX_JOINT];       // Desired joint positions in radian.  Base to Tool joint order  
        float vel[ROS_MAX_JOINT];       // Desired joint velocities in radian/sec.  
        float acc[ROS_MAX_JOINT];       // Desired joint accelerations in radian/sec^2.
} SmBodyJointFeedback; 


typedef enum 
{
        ROS_CMD_CHECK_MOTION_READY = 200101,
        ROS_CMD_CHECK_QUEUE_CNT = 200102,
        ROS_CMD_STOP_MOTION = 200111,
        ROS_CMD_START_TRAJ_MODE = 200121,
        ROS_CMD_STOP_TRAJ_MODE = 200122,
        ROS_CMD_DISCONNECT = 200130
} SmCommandType;


typedef struct                                  // ROS_MSG_MOTO_MOTION_CTRL = 2011
{
        int groupNo;                            // Robot/group ID;  0 = 1st robot 
        int sequence;                           // Optional message tracking number that will be echoed back in the response.
        SmCommandType command;          // Desired command
        float data[ROS_MAX_JOINT];      // Command data - for future use  
} SmBodyMotoMotionCtrl; 


typedef enum 
{
        ROS_RESULT_SUCCESS = 0,
        ROS_RESULT_TRUE = 0,
        ROS_RESULT_BUSY = 1,
        ROS_RESULT_FAILURE = 2,
        ROS_RESULT_FALSE = 2,
        ROS_RESULT_INVALID = 3,
        ROS_RESULT_ALARM = 4,
        ROS_RESULT_NOT_READY = 5,
        ROS_RESULT_MP_FAILURE = 6
} SmResultType;

typedef enum 
{
        ROS_RESULT_INVALID_UNSPECIFIED = 3000,
        ROS_RESULT_INVALID_MSGSIZE,
        ROS_RESULT_INVALID_MSGHEADER,
        ROS_RESULT_INVALID_MSGTYPE,
        ROS_RESULT_INVALID_GROUPNO,
        ROS_RESULT_INVALID_SEQUENCE,
        ROS_RESULT_INVALID_COMMAND,
        ROS_RESULT_INVALID_DATA = 3010,
        ROS_RESULT_INVALID_DATA_START_POS,
        ROS_RESULT_INVALID_DATA_POSITION,
        ROS_RESULT_INVALID_DATA_SPEED,
        ROS_RESULT_INVALID_DATA_ACCEL,  
        ROS_RESULT_INVALID_DATA_INSUFFICIENT
} SmInvalidSubCode;


typedef enum
{
        ROS_RESULT_NOT_READY_UNSPECIFIED = 5000,
        ROS_RESULT_NOT_READY_ALARM,
        ROS_RESULT_NOT_READY_ERROR,
        ROS_RESULT_NOT_READY_ESTOP,
        ROS_RESULT_NOT_READY_NOT_PLAY,
        ROS_RESULT_NOT_READY_NOT_REMOTE,
        ROS_RESULT_NOT_READY_SERVO_OFF,
        ROS_RESULT_NOT_READY_HOLD,
        ROS_RESULT_NOT_READY_NOT_STARTED,
        ROS_RESULT_NOT_READY_WAITING_ROS,
        ROS_RESULT_NOT_READY_SKILLSEND
} SmNotReadySubcode;
        

typedef struct                                  // ROS_MSG_MOTO_MOTION_REPLY = 2012
{
        int groupNo;                            // Robot/group ID;  0 = 1st robot 
        int sequence;                           // Optional message tracking number that will be echoed back in the response.
        int command;                            // Reference to the received message command or type
        SmResultType result;            // High level result code
        int subcode;                            // More detailed result code (optional)
        float data[ROS_MAX_JOINT];      // Reply data - for future use 
} SmBodyMotoMotionReply; 


typedef union
{
        SmBodyRobotStatus robotStatus;
        SmBodyJointTrajPtFull jointTrajData;
        SmBodyJointFeedback     jointFeedback;
        SmBodyMotoMotionCtrl motionCtrl;
        SmBodyMotoMotionReply motionReply;
} SmBody;


//-------------------
// SimpleMsg Section
//-------------------
struct _SimpleMsg
{
        SmPrefix prefix;
        SmHeader header;
        SmBody body;
}  __attribute__((__packed__));
typedef struct _SimpleMsg       SimpleMsg;

#endif