aubo_new_driver.h

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#ifndef AUBO_NEW_DRIVER_H_
#define AUBO_NEW_DRIVER_H_

#include <mutex>
#include <string>
#include <vector>
#include <math.h>
#include <chrono>

#include "aubo_realtime_communication.h"
#include "do_output.h"




class AuboNewDriver {
private:
        std::vector<std::string> joint_names_;
        std::string ip_addr_;
        bool reverse_connected_;

        int incoming_sockfd_;
        int new_sockfd_;
        const unsigned int REVERSE_PORT_;
        const int MULT_JOINTSTATE_ = 1000000;
        const int MULT_TIME_ = 1000000;

        double servoj_time_;
        bool executing_traj_;

        
public:
        AuboRealtimeCommunication* rt_interface_;
        AuboNewDriver(std::condition_variable& rt_msg_cond,
                        std::condition_variable& msg_cond, 
                        std::string host,unsigned int reverse_port = 8899,double servoj_time = 0.020);

        bool start();
        void halt();

        bool doTraj(std::vector<double> inp_timestamps,
                        std::vector<std::vector<double> > inp_positions,
                        std::vector<std::vector<double> > inp_velocities);


        void setSpeed(double q0, double q1, double q2, double q3, double q4,
        double q5, double acc);

        void servoj(std::vector<double> positions, int keepalive = 1);


        void getRobotPos();

        void stopTraj();

        bool openServo();
        void closeServo(std::vector<double> positions);

        std::vector<double> interp_cubic(double t, double T,
                        std::vector<double> p0_pos, std::vector<double> p1_pos,
                        std::vector<double> p0_vel, std::vector<double> p1_vel);

        std::vector<std::string> getJointNames();
        void setJointNames(std::vector<std::string> jn);

        void setRobotIO(int type, int mode,int index,float state);

        void setServojTime(double t);


        /************************Aubo plan and move API*****************************/
        void initMoveProfile();
        void setBlock(bool flag);
        void setMaxSpeed(double speed);
        void setMaxAcc(double acc);
        void movej(std::vector<double> positions);
        void movel(std::vector<double> positions);
        void movelTo(std::vector<double> positions);
        void addWayPoint(std::vector<double> positions);
        void movep(double blendRadius,int trackMode);
        /************************Aubo plan and move API*****************************/  
};

#endif /* AUBO_NEW_DRIVER_H_ */