motoman_motion_ctrl.h

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 * Copyright (c) 2013, Southwest Research Institute
 * All rights reserved.
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#ifndef MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_MOTION_CTRL_H
#define MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_MOTION_CTRL_H

#ifdef ROS
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"
#include "simple_message/log_wrapper.h"
#endif

#ifdef MOTOPLUS
#include "simple_serialize.h"
#include "shared_types.h"
#include "log_wrapper.h"
#endif

namespace motoman
{
namespace simple_message
{
namespace motion_ctrl
{
namespace MotionControlCmds
{
enum MotionControlCmd
{
  UNDEFINED          = 0,
  CHECK_MOTION_READY = 200101,  // check if controller is ready to receive ROS motion cmds
  CHECK_QUEUE_CNT    = 200102,  // get number of motion increments in queue
  STOP_MOTION        = 200111,  // stop robot motion immediately
  START_TRAJ_MODE    = 200121,  // prepare controller to receive ROS motion cmds
  STOP_TRAJ_MODE     = 200122,  // return motion control to INFORM
};
}  // namespace MotionControlCmds
typedef MotionControlCmds::MotionControlCmd MotionControlCmd;

class MotionCtrl : public industrial::simple_serialize::SimpleSerialize
{
public:
  MotionCtrl(void);
  ~MotionCtrl(void);

  void init();

  void init(industrial::shared_types::shared_int robot_id,
            industrial::shared_types::shared_int sequence,
            MotionControlCmd command,
            industrial::shared_types::shared_real data);

  void setRobotID(industrial::shared_types::shared_int robot_id)
  {
    this->robot_id_ = robot_id;
  }

  industrial::shared_types::shared_int getRobotID()
  {
    return this->robot_id_;
  }

  void setSequence(industrial::shared_types::shared_int sequence)
  {
    this->sequence_ = sequence;
  }

  industrial::shared_types::shared_int getSequence()
  {
    return this->sequence_;
  }

  void setCommand(MotionControlCmd command)
  {
    this->command_ = command;
  }

  MotionControlCmd getCommand()
  {
    return (MotionControlCmd)this->command_;
  }

  void clearData()
  {
    for (size_t i = 0; i < MAX_DATA_CNT; ++i)
      this->data_[i] = 0.0;
  }

  void setData(size_t idx, industrial::shared_types::shared_real val)
  {
    if (idx < MAX_DATA_CNT)
      this->data_[idx] = val;
    else
      LOG_ERROR("MotionCtrl data index out-of-range (%d >= %d)",
                static_cast<int>(idx), static_cast<int>(MAX_DATA_CNT));
  }

  industrial::shared_types::shared_real getData(size_t idx)
  {
    if (idx < MAX_DATA_CNT)
    {
      return this->data_[idx];
    }
    else
    {
      LOG_ERROR("MotionCtrl data index out-of-range (%d >= %d)",
                static_cast<int>(idx), static_cast<int>(MAX_DATA_CNT));

      return 0;
    }
  }

  void copyFrom(MotionCtrl &src);

  bool operator==(MotionCtrl &rhs);

  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);
  unsigned int byteLength()
  {
    return 3 * sizeof(industrial::shared_types::shared_int) +
           MAX_DATA_CNT * sizeof(industrial::shared_types::shared_real);
  }

private:
  industrial::shared_types::shared_int robot_id_;

  industrial::shared_types::shared_int sequence_;

  industrial::shared_types::shared_int command_;

  static const size_t MAX_DATA_CNT = 10;

  industrial::shared_types::shared_real data_[MAX_DATA_CNT];
};
}  // namespace motion_ctrl
}  // namespace simple_message
}  // namespace motoman

#endif /* MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_MOTION_CTRL_H */