control_mode.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
 
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2021 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// 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.
// -- END LICENSE BLOCK ------------------------------------------------
 
//----------------------------------------------------------------------
//----------------------------------------------------------------------
 
#ifndef UR_CLIENT_LIBRARY_CONTROL_MODE_H_INCLUDED
#define UR_CLIENT_LIBRARY_CONTROL_MODE_H_INCLUDED
 
#include <algorithm>
#include <vector>
 
namespace urcl
{
namespace comm
{
enum class ControlMode : int32_t
{
  MODE_STOPPED = -2,        
  MODE_UNINITIALIZED = -1,  
  MODE_IDLE = 0,            
  MODE_SERVOJ = 1,          
  MODE_SPEEDJ = 2,          
  MODE_FORWARD = 3,         
  MODE_SPEEDL = 4,          
  MODE_POSE = 5,            
  MODE_FREEDRIVE = 6,       
  MODE_TOOL_IN_CONTACT =
      7,  
  END     
};
 
class ControlModeTypes
{
public:
  // Control modes that require realtime communication
  static const inline std::vector<ControlMode> REALTIME_CONTROL_MODES = {
    ControlMode::MODE_SERVOJ, ControlMode::MODE_SPEEDJ, ControlMode::MODE_SPEEDL, ControlMode::MODE_POSE
  };
 
  // Control modes that doesn't require realtime communication
  static const inline std::vector<ControlMode> NON_REALTIME_CONTROL_MODES = { ControlMode::MODE_IDLE,
                                                                              ControlMode::MODE_FORWARD,
                                                                              ControlMode::MODE_FREEDRIVE };
 
  // Control modes which doesn't move the robot, meaning they are neither realtime or non realtime
  static const inline std::vector<ControlMode> STATIONARY_CONTROL_MODES = { ControlMode::MODE_STOPPED,
                                                                            ControlMode::MODE_UNINITIALIZED,
                                                                            ControlMode::MODE_TOOL_IN_CONTACT };
 
  static bool isControlModeRealtime(ControlMode control_mode)
  {
    return (std::find(ControlModeTypes::REALTIME_CONTROL_MODES.begin(), ControlModeTypes::REALTIME_CONTROL_MODES.end(),
                      control_mode) != ControlModeTypes::REALTIME_CONTROL_MODES.end());
  }
 
  static bool isControlModeNonRealtime(ControlMode control_mode)
  {
    return (std::find(ControlModeTypes::NON_REALTIME_CONTROL_MODES.begin(),
                      ControlModeTypes::NON_REALTIME_CONTROL_MODES.end(),
                      control_mode) != ControlModeTypes::NON_REALTIME_CONTROL_MODES.end());
  }
};
 
}  // namespace comm
}  // namespace urcl
 
#endif  // ifndef UR_CLIENT_LIBRARY_CONTROL_MODE_H_INCLUDED