script_command_interface.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_SCRIPT_COMMAND_INTERFACE_H_INCLUDED
#define UR_CLIENT_LIBRARY_SCRIPT_COMMAND_INTERFACE_H_INCLUDED
 
#include "ur_client_library/control/reverse_interface.h"
#include "ur_client_library/ur/tool_communication.h"
 
namespace urcl
{
namespace control
{
enum class ToolContactResult : int32_t
{
 
  UNTIL_TOOL_CONTACT_RESULT_SUCCESS = 0,   
  UNTIL_TOOL_CONTACT_RESULT_CANCELED = 1,  
};
 
class ScriptCommandInterface : public ReverseInterface
{
public:
  ScriptCommandInterface() = delete;
  ScriptCommandInterface(uint32_t port);
 
  bool zeroFTSensor();
 
  bool setPayload(const double mass, const vector3d_t* cog);
 
  bool setToolVoltage(const ToolVoltage voltage);
 
  bool startForceMode(const vector6d_t* task_frame, const vector6uint32_t* selection_vector, const vector6d_t* wrench,
                      const unsigned int type, const vector6d_t* limits, double damping_factor,
                      double gain_scaling_factor);
 
  bool endForceMode();
 
  bool startToolContact();
 
  bool endToolContact();
 
  bool clientConnected();
 
  void setToolContactResultCallback(std::function<void(ToolContactResult)> callback)
  {
    handle_tool_contact_result_ = callback;
  }
 
protected:
  virtual void connectionCallback(const socket_t filedescriptor) override;
 
  virtual void disconnectionCallback(const socket_t filedescriptor) override;
 
  virtual void messageCallback(const socket_t filedescriptor, char* buffer, int nbytesrecv) override;
 
private:
  enum class ScriptCommand : int32_t
  {
 
    ZERO_FTSENSOR = 0,       
    SET_PAYLOAD = 1,         
    SET_TOOL_VOLTAGE = 2,    
    START_FORCE_MODE = 3,    
    END_FORCE_MODE = 4,      
    START_TOOL_CONTACT = 5,  
    END_TOOL_CONTACT = 6,    
  };
 
  bool client_connected_;
  static const int MAX_MESSAGE_LENGTH = 28;
 
  std::function<void(ToolContactResult)> handle_tool_contact_result_;
};
 
}  // namespace control
}  // namespace urcl
 
#endif  // UR_CLIENT_LIBRARY_SCRIPT_COMMAND_INTERFACE_H_INCLUDED