jaco_driver: Kinova.API.UsbCommandLayerUbuntu.h Source File

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00001 #ifdef KINOVAAPIUSBCOMMANDLAYER_EXPORTS
00002 #define KINOVAAPIUSBCOMMANDLAYER_API __attribute__ ((visibility ("default")))
00003 #else
00004 #define KINOVAAPIUSBCOMMANDLAYER_API __attribute__ ((visibility ("default")))
00005 #endif
00006 
00012 #include <vector>
00013 #include "KinovaTypes.h"
00014 #include "Kinova.API.CommLayerUbuntu.h"
00015 #include <stdio.h>
00016 
00017 //This defines the the location of the communication layer.(Kinova.DLL.CommLayer.dll)
00018 #define COMM_LAYER_PATH "Kinova.API.CommLayerUbuntu.so"
00019 
00020 //This indicates the success of the current operation
00021 #define SUCCESS 1
00022 #define KINOVA_ 1
00023 
00024 // ***** E R R O R   C O D E S ******
00025 #define ERROR_INIT_API 2001      // Error while initializing the API
00026 #define ERROR_LOAD_COMM_DLL 2002 // Error while loading the communication layer
00027 
00028 //Those 3 codes are mostly for internal use
00029 #define JACO_NACK_FIRST 2003
00030 #define JACO_COMM_FAILED 2004
00031 #define JACO_NACK_NORMAL 2005
00032 
00033 //Unable to initialize the communication layer.
00034 #define ERROR_INIT_COMM_METHOD  2006
00035 
00036 //Unable to load the Close() function from the communication layer.
00037 #define ERROR_CLOSE_METHOD  2007
00038 
00039 //Unable to load the GetDeviceCount() function from the communication layer.
00040 #define ERROR_GET_DEVICE_COUNT_METHOD  2008
00041 
00042 //Unable to load the SendPacket() function from the communication layer.
00043 #define ERROR_SEND_PACKET_METHOD  2009
00044 
00045 //Unable to load the SetActiveDevice() function from the communication layer.
00046 #define ERROR_SET_ACTIVE_DEVICE_METHOD 2010
00047 
00048 //Unable to load the GetDeviceList() function from the communication layer.
00049 #define ERROR_GET_DEVICES_LIST_METHOD 2011
00050 
00051 //Unable to initialized the system semaphore.
00052 #define ERROR_SEMAPHORE_FAILED 2012
00053 
00054 //A function's parameter is not valid.
00055 #define ERROR_INVALID_PARAM 2100
00056 
00057 //The API is not initialized.
00058 #define ERROR_API_NOT_INITIALIZED 2101
00059 
00060 // ***** E N D  O F  E R R O R   C O D E S ******
00061 
00062 //Version of the API 5.01.01
00063 #define COMMAND_LAYER_VERSION 50101
00064 
00065 // ***** API'S FUNCTIONAL CORE *****
00066 
00067 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetDevices(std::vector<KinovaDevice> &devices, int &result);
00068 
00069 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetActiveDevice(KinovaDevice device);
00070 
00071 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int InitAPI(void);
00072 
00073 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int CloseAPI(void);
00074 
00075 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetCodeVersion(std::vector<int> &Response);
00076 
00077 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetAPIVersion(std::vector<int> &Response);
00078 
00079 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetCartesianPosition(CartesianPosition &Response);
00080 
00081 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetAngularPosition(AngularPosition &Response);
00082 
00083 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetCartesianForce(CartesianPosition &Response);
00084 
00085 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetAngularForce(AngularPosition &Response);
00086 
00087 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetAngularCurrent(AngularPosition &Response);
00088 
00089 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetActualTrajectoryInfo(TrajectoryPoint &Response);
00090 
00091 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetGlobalTrajectoryInfo(TrajectoryFIFO &Response);
00092 
00093 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetSensorsInfo(SensorsInfo &Response);
00094 
00095 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetSingularityVector(SingularityVector &Response);
00096 
00097 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetAngularControl();
00098 
00099 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetCartesianControl();
00100 
00101 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int StartControlAPI();
00102 
00103 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int StopControlAPI();
00104 
00105 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int RestoreFactoryDefault();
00106 
00107 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SendJoystickCommand(JoystickCommand joystickCommand);
00108 
00109 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SendAdvanceTrajectory(TrajectoryPoint trajectory);
00110 
00111 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SendBasicTrajectory(TrajectoryPoint trajectory);
00112 
00113 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetClientConfigurations(ClientConfigurations &config);
00114 
00115 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetClientConfigurations(ClientConfigurations config);
00116 
00117 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int EraseAllTrajectories();
00118 
00119 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetPositionCurrentActuators(std::vector<float> &Response);
00120 
00121 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetActuatorPID(unsigned int address, float P, float I, float D);
00122 
00123 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetAngularCommand(AngularPosition &Response);
00124 
00125 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetCartesianCommand(CartesianPosition &Response);
00126 
00127 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetAngularCurrentMotor(AngularPosition &Response);
00128 
00129 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetAngularVelocity(AngularPosition &Response);
00130 
00131 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetControlType(int &Response);
00132 
00133 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int StartForceControl();
00134 
00135 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int StopForceControl();
00136 
00137 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int StartCurrentLimitation();
00138 
00139 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int StopCurrentLimitation();
00140 
00141 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetSystemErrorCount(unsigned int &Response);
00142 
00143 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetSystemError(unsigned int indexError, SystemError &Response);
00144 
00145 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int ClearErrorLog();
00146 
00147 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int EraseAllProtectionZones();
00148 
00149 //Internal use only
00150 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetSerialNumber(char Command[STRING_LENGTH], char temp[STRING_LENGTH]);
00151 
00152 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetControlMapping(ControlMappingCharts &Response);
00153 
00154 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetProtectionZone(ZoneList &Response);
00155 
00156 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetProtectionZone(ZoneList Command);
00157 
00158 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetGripperStatus(Gripper &Response);
00159 
00160 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetQuickStatus(QuickStatus &Response);
00161 
00162 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetForcesInfo(ForcesInfo &Response);
00163 
00164 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetControlMapping(ControlMappingCharts Command);
00165 
00166 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int ProgramFlash(char * filename);
00167 
00168 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetJointZero(int ActuatorAdress);
00169 
00170 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetTorqueZero(int ActuatorAdress);
00171 
00172 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetTorqueGain(int ActuatorAdress, int Gain);
00173 
00174 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetActuatorPIDFilter(int ActuatorAdress, float filterP, float filterI, float filterD);
00175 
00176 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetActuatorAddress(int ActuatorAdress, int newAddress);
00177 
00178 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetGeneralInformations(GeneralInformations &Response);
00179 
00180 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetFrameType(int frameType);
00181 
00182 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetCartesianForceMinMax(CartesianInfo min, CartesianInfo max);
00183 
00184 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetCartesianInertiaDamping(CartesianInfo inertia, CartesianInfo damping);
00185 
00186 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetAngularTorqueMinMax(AngularInfo min, AngularInfo max);
00187 
00188 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetAngularInertiaDamping(AngularInfo inertia, AngularInfo damping);
00189 
00190 //Internal use only
00191 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetDevValue(std::vector<float> command);
00192 
00193 //Internal use only
00194 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetDevValue(std::vector<float> &Response);
00195 
00196 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetSpasmFilterValues(std::vector<float> Response, int activationStatus);
00197 
00198 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetSpasmFilterValues(std::vector<float> &Response, int &activationStatus);
00199 
00200 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int MoveHome();
00201 
00202 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetAngularForceGravityFree(AngularPosition &Response);
00203 
00204 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetActuatorAcceleration(AngularAcceleration &Response);
00205 
00206 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int InitFingers();
00207 
00208 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int GetPeripheralInventory(std::vector<PeripheralInfo> &);
00209 
00210 //Internal use only
00211 extern "C" KINOVAAPIUSBCOMMANDLAYER_API int SetModel(char Command[STRING_LENGTH], char temp[STRING_LENGTH]);
00212