jaco_driver: jaco_api.cpp Source File

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00001 /*
00002  * jacolib.cpp
00003  *
00004  *  Created on: Mar 10, 2013
00005  *  Modified on: June 25, 2013
00006  *      Author: mdedonato, Clearpath Robotics
00007  */
00008 
00009 #include <jaco_driver/jaco_api.h>
00010 
00011 namespace jaco {
00012 
00013 JacoAPI::JacoAPI(void) {
00014 
00015         void *USBLib = dlopen(JACO_USB_LIBRARY, RTLD_NOW | RTLD_GLOBAL);
00016         if (USBLib == NULL) {
00017                 ROS_WARN("%s", dlerror());
00018         }
00019 
00020         InitAPI = (int (*)())dlsym(USBLib, "InitAPI");
00021 
00022         CloseAPI = (int (*)())dlsym(USBLib, "CloseAPI");
00023 
00024         GetCodeVersion = (int (*)(
00025                         std::vector<int> &))dlsym(USBLib, "GetCodeVersion");
00026 
00027         GetCartesianPosition = (int (*)(
00028                         CartesianPosition &))dlsym(USBLib, "GetCartesianPosition");
00029 
00030         GetAngularPosition = (int (*)(
00031                         AngularPosition &))dlsym(USBLib, "GetAngularPosition");
00032 
00033         GetCartesianForce = (int (*)(
00034                         CartesianPosition &))dlsym(USBLib, "GetCartesianForce");
00035 
00036         GetAngularForce = (int (*)(
00037                         AngularPosition &))dlsym(USBLib, "GetAngularForce");
00038 
00039         GetAngularCurrent = (int (*)(
00040                         AngularPosition &))dlsym(USBLib, "GetAngularCurrent");
00041 
00042         GetControlOperator = (int (*)(int &))dlsym(USBLib, "GetControlOperator");
00043 
00044         GetActualTrajectoryInfo = (int (*)(
00045                         TrajectoryPoint &))dlsym(USBLib, "GetActualTrajectoryInfo");
00046 
00047         GetGlobalTrajectoryInfo = (int (*)(
00048                         TrajectoryFIFO &))dlsym(USBLib, "GetGlobalTrajectoryInfo");
00049 
00050         GetSensorsInfo = (int (*)(SensorsInfo &))dlsym(USBLib, "GetSensorsInfo");
00051 
00052         GetSingularityVector = (int (*)(
00053                         SingularityVector &))dlsym(USBLib, "GetSingularityVector");
00054 
00055         SetAngularControl = (int (*)())dlsym(USBLib, "SetAngularControl");
00056 
00057         SetCartesianControl = (int (*)())dlsym(USBLib, "SetCartesianControl");
00058 
00059         StartControlAPI = (int (*)())dlsym(USBLib, "StartControlAPI");
00060 
00061         StopControlAPI = (int (*)())dlsym(USBLib, "StopControlAPI");
00062 
00063         RestoreFactoryDefault = (int (*)())dlsym(USBLib, "RestoreFactoryDefault");
00064 
00065         SendJoystickCommand = (int (*)(
00066                         JoystickCommand))dlsym(USBLib, "SendJoystickCommand");
00067 
00068         SendAdvanceTrajectory = (int (*)(
00069                         TrajectoryPoint))dlsym(USBLib, "SendAdvanceTrajectory");
00070 
00071         SendBasicTrajectory = (int (*)(
00072                         TrajectoryPoint))dlsym(USBLib, "SendBasicTrajectory");
00073 
00074         GetClientConfigurations = (int (*)(
00075                         ClientConfigurations &))dlsym(USBLib, "GetClientConfigurations");
00076 
00077         SetClientConfigurations = (int (*)(
00078                         ClientConfigurations))dlsym(USBLib, "SetClientConfigurations");
00079 
00080         EraseAllTrajectories = (int (*)())dlsym(USBLib, "EraseAllTrajectories");
00081 
00082         GetPositionCurrentActuators = (int (*)(
00083                         std::vector<float> &))dlsym(USBLib, "GetPositionCurrentActuators");
00084 
00085         SetActuatorPID = (int (*)(unsigned int, float, float,
00086                         float))dlsym(USBLib, "SetActuatorPID");
00087 }
00088 
00089 }