#include <ros/ros.h>#include <signal.h>#include <boost/thread/thread.hpp>#include <cstdlib>#include <array>#include <vector>#include <algorithm>#include <string>#include <iostream>#include <dsr_msgs/RobotState.h>#include <dsr_msgs/RobotStop.h>#include <dsr_msgs/MoveJoint.h>#include <dsr_msgs/MoveLine.h>#include <dsr_msgs/MoveJointx.h>#include <dsr_msgs/MoveCircle.h>#include <dsr_msgs/MoveSplineJoint.h>#include <dsr_msgs/MoveSplineTask.h>#include <dsr_msgs/MoveBlending.h>#include <dsr_msgs/MoveSpiral.h>#include <dsr_msgs/MovePeriodic.h>#include <dsr_msgs/MoveWait.h>#include <dsr_msgs/ConfigCreateTcp.h>#include <dsr_msgs/ConfigDeleteTcp.h>#include <dsr_msgs/GetCurrentTcp.h>#include <dsr_msgs/SetCurrentTcp.h>#include <dsr_msgs/SetCurrentTool.h>#include <dsr_msgs/GetCurrentTool.h>#include <dsr_msgs/ConfigCreateTool.h>#include <dsr_msgs/ConfigDeleteTool.h>#include <dsr_msgs/SetCtrlBoxDigitalOutput.h>#include <dsr_msgs/GetCtrlBoxDigitalInput.h>#include <dsr_msgs/SetToolDigitalOutput.h>#include <dsr_msgs/GetToolDigitalInput.h>#include <dsr_msgs/SetCtrlBoxAnalogOutput.h>#include <dsr_msgs/GetCtrlBoxAnalogInput.h>#include <dsr_msgs/SetCtrlBoxAnalogOutputType.h>#include <dsr_msgs/SetCtrlBoxAnalogInputType.h>#include <dsr_msgs/SetModbusOutput.h>#include <dsr_msgs/GetModbusInput.h>#include <dsr_msgs/ConfigCreateModbus.h>#include <dsr_msgs/ConfigDeleteModbus.h>#include <dsr_msgs/DrlPause.h>#include <dsr_msgs/DrlStart.h>#include <dsr_msgs/DrlStop.h>#include <dsr_msgs/DrlResume.h>#include "DRFL.h"#include "DRFC.h"#include "DRFS.h"
Include dependency graph for dsr_service_modbus_basic.cpp:
Go to the source code of this file.
Functions | |
| int | config_create_modbus (string strName, string strIP, int nPort, int nRegType, int nRegIndex, int nRegValue=0) |
| int | config_delete_modbus (string strName) |
| int | get_modbus_input (string strName) |
| int | main (int argc, char **argv) |
| int | movej (float fTargetPos[NUM_JOINT], float fTargetVel, float fTargetAcc, float fTargetTime=0.f, int nMoveMode=MOVE_MODE_ABSOLUTE, float fBlendingRadius=0.f, int nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, int nSyncType=0) |
| int | set_modbus_output (string strName, int nValue) |
| void | SET_ROBOT (string id, string model) |
| void | SigHandler (int sig) |
| void | thread_subscriber () |
Variables | |
| string | ROBOT_ID = "dsr01" |
| string | ROBOT_MODEL = "m1013" |
Function Documentation
| int config_create_modbus | ( | string | strName, |
| string | strIP, | ||
| int | nPort, | ||
| int | nRegType, | ||
| int | nRegIndex, | ||
| int | nRegValue = 0 |
||
| ) |
Definition at line 158 of file dsr_service_modbus_basic.cpp.
| int config_delete_modbus | ( | string | strName | ) |
Definition at line 190 of file dsr_service_modbus_basic.cpp.
| int get_modbus_input | ( | string | strName | ) |
Definition at line 138 of file dsr_service_modbus_basic.cpp.
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
thread_sub.join();
Definition at line 243 of file dsr_service_modbus_basic.cpp.
| int movej | ( | float | fTargetPos[NUM_JOINT], |
| float | fTargetVel, | ||
| float | fTargetAcc, | ||
| float | fTargetTime = 0.f, |
||
| int | nMoveMode = MOVE_MODE_ABSOLUTE, |
||
| float | fBlendingRadius = 0.f, |
||
| int | nBlendingType = BLENDING_SPEED_TYPE_DUPLICATE, |
||
| int | nSyncType = 0 |
||
| ) |
Definition at line 74 of file dsr_service_modbus_basic.cpp.
| int set_modbus_output | ( | string | strName, |
| int | nValue | ||
| ) |
Definition at line 114 of file dsr_service_modbus_basic.cpp.
| void SET_ROBOT | ( | string | id, |
| string | model | ||
| ) |
Definition at line 71 of file dsr_service_modbus_basic.cpp.
| void SigHandler | ( | int | sig | ) |
Definition at line 221 of file dsr_service_modbus_basic.cpp.
| void thread_subscriber | ( | ) |
Definition at line 214 of file dsr_service_modbus_basic.cpp.
Variable Documentation
| string ROBOT_ID = "dsr01" |
Definition at line 69 of file dsr_service_modbus_basic.cpp.
| string ROBOT_MODEL = "m1013" |
Definition at line 70 of file dsr_service_modbus_basic.cpp.