robot.h

Go to the documentation of this file.

/*******************************************************************************
* Copyright 2018 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/

/*
 * robot.h
 *
 *  Created on: 2015. 12. 11.
 *      Author: zerom
 */

#ifndef ROBOTIS_DEVICE_ROBOT_H_
#define ROBOTIS_DEVICE_ROBOT_H_


#include <vector>

#include "sensor.h"
#include "dynamixel.h"
#include "dynamixel_sdk/port_handler.h"

#define DYNAMIXEL             "dynamixel"
#define SENSOR                "sensor"

#define SESSION_CONTROL_INFO  "control info"
#define SESSION_PORT_INFO     "port info"
#define SESSION_DEVICE_INFO   "device info"

#define SESSION_TYPE_INFO     "type info"
#define SESSION_CONTROL_TABLE "control table"

#define DEFAULT_CONTROL_CYCLE 8 // milliseconds

namespace robotis_framework
{

class Robot
{
private:
  int   control_cycle_msec_;

public:
  std::map<std::string, dynamixel::PortHandler *> ports_;   // string: port name
  std::map<std::string, std::string>  port_default_device_; // port name, default device name

  std::map<std::string, Dynamixel *>  dxls_;       // string: joint name
  std::map<std::string, Sensor *>     sensors_;    // string: sensor name

  Robot(std::string robot_file_path, std::string dev_desc_dir_path);

  Sensor     *getSensor(std::string path, int id, std::string port, float protocol_version);
  Dynamixel  *getDynamixel(std::string path, int id, std::string port, float protocol_version);

  int         getControlCycle();
};

}


#endif /* ROBOTIS_DEVICE_ROBOT_H_ */