jaco_api.cpp

Go to the documentation of this file.

/*
 * jacolib.cpp
 *
 *  Created on: Mar 10, 2013
 *  Modified on: June 25, 2013
 *      Author: mdedonato, Clearpath Robotics
 */

#include <jaco_driver/jaco_api.h>
#include <vector>


namespace jaco
{

void* checkApiInit(void * usbLib, const char* name)
{
    void * function_pointer = dlsym(usbLib, name);
    assert(function_pointer != NULL);
    return function_pointer;
}


JacoAPI::JacoAPI(void)
{
    void *usbLib = dlopen(JACO_USB_LIBRARY, RTLD_NOW | RTLD_GLOBAL);
    if (usbLib == NULL)
    {
        ROS_WARN("%s", dlerror());
    }

    initAPI = (int (*)())checkApiInit(usbLib, "InitAPI");

    closeAPI = (int (*)())checkApiInit(usbLib, "CloseAPI");

    getAPIVersion = (int (*)(std::vector<int> &))checkApiInit(usbLib, "GetAPIVersion");

    getDevices = (int (*)(std::vector<KinovaDevice> &, int &))checkApiInit(usbLib, "GetDevices");

    setActiveDevice = (int (*)(KinovaDevice))checkApiInit(usbLib, "SetActiveDevice");

    getCodeVersion = (int (*)(std::vector<int> &))checkApiInit(usbLib, "GetCodeVersion");

    getGeneralInformations = (int (*)(GeneralInformations &))checkApiInit(usbLib, "GetGeneralInformations");

    getCartesianPosition = (int (*)(CartesianPosition &))checkApiInit(usbLib, "GetCartesianPosition");

    getAngularPosition = (int (*)(AngularPosition &))checkApiInit(usbLib, "GetAngularPosition");

    getCartesianForce = (int (*)(CartesianPosition &))checkApiInit(usbLib, "GetCartesianForce");

    getAngularForce = (int (*)(AngularPosition &))checkApiInit(usbLib, "GetAngularForce");

    getAngularCurrent = (int (*)(AngularPosition &))checkApiInit(usbLib, "GetAngularCurrent");

    getActualTrajectoryInfo = (int (*)(TrajectoryPoint &))checkApiInit(usbLib, "GetActualTrajectoryInfo");

    getGlobalTrajectoryInfo = (int (*)(TrajectoryFIFO &))checkApiInit(usbLib, "GetGlobalTrajectoryInfo");

    getSensorsInfo = (int (*)(SensorsInfo &))checkApiInit(usbLib, "GetSensorsInfo");

    setAngularControl = (int (*)())checkApiInit(usbLib, "SetAngularControl");

    setCartesianControl = (int (*)())checkApiInit(usbLib, "SetCartesianControl");

    startControlAPI = (int (*)())checkApiInit(usbLib, "StartControlAPI");

    stopControlAPI = (int (*)())checkApiInit(usbLib, "StopControlAPI");

    moveHome = (int (*)())checkApiInit(usbLib, "MoveHome");

    initFingers = (int (*)())checkApiInit(usbLib, "InitFingers");

    restoreFactoryDefault = (int (*)())checkApiInit(usbLib, "RestoreFactoryDefault");

    sendJoystickCommand = (int (*)(JoystickCommand))checkApiInit(usbLib, "SendJoystickCommand");

    sendAdvanceTrajectory = (int (*)(TrajectoryPoint))checkApiInit(usbLib, "SendAdvanceTrajectory");

    sendBasicTrajectory = (int (*)(TrajectoryPoint))checkApiInit(usbLib, "SendBasicTrajectory");

    getControlType = (int (*)(int &)) checkApiInit(usbLib, "GetControlType");

    getQuickStatus = (int (*)(QuickStatus &))checkApiInit(usbLib, "GetQuickStatus");

    getClientConfigurations = (int (*)(ClientConfigurations &))checkApiInit(usbLib, "GetClientConfigurations");

    setClientConfigurations = (int (*)( ClientConfigurations))checkApiInit(usbLib, "SetClientConfigurations");

    eraseAllTrajectories = (int (*)())checkApiInit(usbLib, "EraseAllTrajectories");

    getPositionCurrentActuators = (int (*)(std::vector<float> &))checkApiInit(usbLib, "GetPositionCurrentActuators");

    setActuatorPID = (int (*)(unsigned int, float, float, float))checkApiInit(usbLib, "SetActuatorPID");
}

}  // namespace jaco