25 #ifndef _DENSO_ROBOT_RC8_H_ 26 #define _DENSO_ROBOT_RC8_H_ 28 #include <boost/thread.hpp> 31 #define S_BUF_FULL (0x0F200501) 32 #define E_BUF_FULL (0x83201483) 81 const std::string& name,
const int* mode);
115 void get_Current(std::vector<double> ¤t)
const;
123 const int miniio = 0,
const int handio = 0,
124 const int recv_userio_offset = 0,
const int recv_userio_size = 0,
125 const int send_userio_offset = 0,
const int send_userio_size = 0,
126 const std::vector<uint8_t>& send_userio = std::vector<uint8_t>());
129 std::vector<double>& position, std::vector<double>& joint, std::vector<double>& trans,
130 int& miniio,
int& handio,
int& timestamp,
131 std::vector<uint8_t>& recv_userio,
132 std::vector<double>& current);
140 void Callback_Change(
const std::string& name,
const Int32::ConstPtr& msg);
void get_RecvUserIO(UserIO &value) const
void put_RecvFormat(int format)
void put_MiniIO(int value)
void Callback_Change(const std::string &name, const Int32::ConstPtr &msg)
HRESULT ParseRecvParameter(const VARIANT_Ptr &recv, std::vector< double > &position, std::vector< double > &joint, std::vector< double > &trans, int &miniio, int &handio, int ×tamp, std::vector< uint8_t > &recv_userio, std::vector< double > ¤t)
HRESULT StartService(ros::NodeHandle &node)
void Callback_DriveString(const std::string &name, const DriveStringGoalConstPtr &goal)
void put_RecvUserIO(const UserIO &value)
std::vector< uint8_t > m_recv_userio
void Callback_Speed(const Float32::ConstPtr &msg)
std::vector< uint32_t > Handle_Vec
boost::shared_ptr< SimpleActionServer< DriveValueAction > > m_actDriveExValue
HRESULT ExecSlaveMode(const std::string &name, int32_t format, int32_t option=0)
int get_RecvFormat() const
std::vector< uint8_t > m_send_userio
ros::Subscriber m_subChangeTool
std::vector< BCAPService_Ptr > Service_Vec
void Callback_MoveString(const MoveStringGoalConstPtr &goal)
ros::Subscriber m_subSpeed
std::vector< double > m_position
void put_TimeFormat(int format)
HRESULT ExecChange(const std::string &value)
int get_TimeFormat() const
HRESULT ExecSlaveMove(const std::vector< double > &pose, std::vector< double > &joint)
std::vector< double > m_trans
std::vector< double > m_current
HRESULT ExecCurJnt(std::vector< double > &pose)
boost::interprocess::unique_ptr< VARIANT, variant_deleter > VARIANT_Ptr
HRESULT ExecSpeed(float value)
boost::shared_ptr< SimpleActionServer< DriveStringAction > > m_actDriveExString
void Callback_MoveValue(const MoveValueGoalConstPtr &goal)
HRESULT ChangeMode(int mode)
int get_SendFormat() const
boost::shared_ptr< DensoRobotRC8 > DensoRobotRC8_Ptr
boost::shared_ptr< SimpleActionServer< DriveStringAction > > m_actDriveAExString
HRESULT ExecDrive(const std::string &name, const VARIANT_Ptr &option)
void get_Current(std::vector< double > ¤t) const
HRESULT ExecMove(int comp, const VARIANT_Ptr &pose, const std::string &option)
HRESULT CreateSendParameter(const std::vector< double > &pose, VARIANT_Ptr &send, const int miniio=0, const int handio=0, const int recv_userio_offset=0, const int recv_userio_size=0, const int send_userio_offset=0, const int send_userio_size=0, const std::vector< uint8_t > &send_userio=std::vector< uint8_t >())
ros::Subscriber m_subChangeWork
boost::shared_ptr< SimpleActionServer< MoveValueAction > > m_actMoveValue
DensoRobotRC8(DensoBase *parent, Service_Vec &service, Handle_Vec &handle, const std::string &name, const int *mode)
boost::shared_ptr< SimpleActionServer< MoveStringAction > > m_actMoveString
boost::shared_ptr< SimpleActionServer< DriveValueAction > > m_actDriveAExValue
void put_SendUserIO(const UserIO &value)
void put_HandIO(int value)
void put_SendFormat(int format)
std::vector< double > m_joint
int get_Timestamp() const
void Callback_DriveValue(const std::string &name, const DriveValueGoalConstPtr &goal)