iob.h

Go to the documentation of this file.

#ifndef __IOB_H__
#define __IOB_H__

#define ON              1
#define OFF             0

#define MASK_ON         0
#define MASK_OFF        1

#ifndef FALSE
#define FALSE           0
#endif

#ifndef TRUE
#define TRUE            1
#endif

#define E_ID    -1 ///< invalid joint(or sensor) id


#define SS_OVER_VOLTAGE         0x001
#define SS_OVER_LOAD            0x002
#define SS_OVER_VELOCITY        0x004
#define SS_OVER_CURRENT         0x008

#define SS_OVER_HEAT            0x010
#define SS_TORQUE_LIMIT         0x020
#define SS_VELOCITY_LIMIT       0x040
#define SS_FORWARD_LIMIT        0x080

#define SS_REVERSE_LIMIT        0x100
#define SS_POSITION_ERROR       0x200
#define SS_ENCODER_ERROR        0x400
#define SS_OTHER                0x800

#define SS_RESERVED1            0x1000
#define SS_RESERVED2            0x2000
#define SS_RESERVED3            0x4000
#define SS_EMERGENCY            0x8000


#define JID_ALL -1
#define JID_INVALID -2

#ifdef __cplusplus
extern "C"{
#endif

    typedef enum {
        JCM_FREE,       
        JCM_POSITION,   
        JCM_TORQUE,     
        JCM_VELOCITY,   
#if defined(ROBOT_IOB_VERSION) && ROBOT_IOB_VERSION >= 4
        JCM_POSITION_TORQUE,  
#endif
        JCM_NUM 
    } joint_control_mode;

    // @{
    int number_of_joints();

    int set_number_of_joints(int num);

    int number_of_force_sensors();

    int set_number_of_force_sensors(int num);

    int number_of_gyro_sensors();

    int set_number_of_gyro_sensors(int num);

    int number_of_accelerometers();

    int set_number_of_accelerometers(int num);

    int number_of_attitude_sensors();

    // @}

    // @{
    int read_actual_angle(int id, double *angle);

    int read_actual_angles(double *angles);

    int read_angle_offset(int id, double *offset);

    int write_angle_offset(int id, double offset);


    // @name joint
    // @{
    int read_power_state(int id, int *s);

    int write_power_command(int id, int com);

    int read_power_command(int id, int *com);

    int read_servo_state(int id, int *s);

    int read_servo_alarm(int id, int *a);

    int read_control_mode(int id, joint_control_mode *s);

    int write_control_mode(int id, joint_control_mode s);

    int read_actual_torques(double *torques);

    int read_command_torque(int id, double *torque);

    int write_command_torque(int id, double torque);

    int read_command_torques(double *torques);

    int write_command_torques(const double *torques);

    int read_command_angle(int id, double *angle);

    int write_command_angle(int id, double angle);

    int read_command_angles(double *angles);

    int write_command_angles(const double *angles);

    int read_pgain(int id, double *gain);

    int write_pgain(int id, double gain);

    int read_dgain(int id, double *gain);

    int write_dgain(int id, double gain);

    int read_actual_velocity(int id, double *vel);

    int read_command_velocity(int id, double *vel);

    int write_command_velocity(int id, double vel);

    int read_actual_velocities(double *vels);

    int read_command_velocities(double *vels);

    int write_command_velocities(const double *vels);

    int write_servo(int id, int com);

    int read_driver_temperature(int id, unsigned char* v);

    int read_calib_state(int id, int *s);

    size_t length_of_extra_servo_state(int id);

    int read_extra_servo_state(int id, int *state);


    int read_force_sensor(int id, double *forces);

    int read_force_offset(int id, double *offsets);

    int write_force_offset(int id, double *offsets);

    int read_gyro_sensor(int id, double *rates);

    int read_gyro_sensor_offset(int id, double *offset);

    int write_gyro_sensor_offset(int id, double *offset);


    int read_accelerometer(int id, double *accels);

    int read_accelerometer_offset(int id, double *offset);

    int write_accelerometer_offset(int id, double *offset);


    int read_attitude_sensor(int id, double *att);

    int write_attitude_sensor_offset(int id, double *offset);

    int read_power(double *v, double *a);

#if defined(ROBOT_IOB_VERSION) && ROBOT_IOB_VERSION >= 2

    int number_of_batteries();

    int read_battery(int id, double *v, double *a, double *b);

    int number_of_thermometers();

#endif

#if defined(ROBOT_IOB_VERSION) && ROBOT_IOB_VERSION >= 3

    int write_command_acceleration(int id, double acc);

     int write_command_accelerations(const double *accs);

    int write_joint_inertia(int id, double mn);

     int write_joint_inertias(const double *mns);

    int read_pd_controller_torques(double *torques);

    int write_disturbance_observer(int com);

    int write_disturbance_observer_gain(double gain);
#endif

#if defined(ROBOT_IOB_VERSION) && ROBOT_IOB_VERSION >= 4

    int read_torque_pgain(int id, double *gain);

    int write_torque_pgain(int id, double gain);

    int read_torque_dgain(int id, double *gain);

    int write_torque_dgain(int id, double gain);

#endif

    int read_temperature(int id, double *v);

    int open_iob(void);

    int close_iob(void);

    int reset_body(void);

    int lock_iob();

    int unlock_iob();

    int read_lock_owner(pid_t *pid);

    unsigned long long read_iob_frame();

    int number_of_substeps(); 

    int wait_for_iob_signal();

    int set_signal_period(long period_ns);

    long get_signal_period();

    int initializeJointAngle(const char *name, const char *option);

    int read_digital_input(char *dinput);

    int length_digital_input();

    int write_digital_output(const char *doutput);

    int write_digital_output_with_mask(const char *doutput, const char *dmask);

    int length_digital_output();

    int read_digital_output(char *doutput);

#ifdef __cplusplus
}
#endif

#endif