Commit Iniziale

libURcom/packagetypes.h

@@ -0,0 +1,349 @@
+/*
+ * packagetypes.h
+ *
+ *  Created on: Jan 14, 2019
+ *      Author: emanuele
+ *
+ *  Strutture e definizioni dei pacchetti utilizzati dal protocollo Client Interface di UR
+ *
+ */
+#include <cstdint>
+#include <ctime>
+#include <boost/endian/buffers.hpp>
+using namespace boost::endian;
+
+#define HEADERSIZE 4
+
+//#define EUROMAP
+#define JOINT_NUMBER		6
+
+// PACKET TYPES
+#define VERSION_MESSAGE		20
+#define ROBOT_MESSAGE		16
+// SUBPACKET TYPES
+#define ROBOT_MODE_DATA 	0
+#define JOINT_DATA 			1
+#define TOOL_DATA 			2
+#define MASTER_BOARD_DATA 	3
+#define CARTESIAN_INFO 		4
+#define KINEMATICS_INFO 	5
+#define CONFIGURATION_DATA 	6
+#define FORCE_MODE_DATA 	7
+#define ADDITIONAL_INFO 	8
+#define CALIBRATION_DATA	9
+#define SAFETY_DATA			10
+#define TOOL_COM_INFO 		11
+#define TOOL_MODE_INFO 		12
+
+enum {
+	ROBOT_MODE_NO_CONTROLLER = -1,
+	ROBOT_MODE_DISCONNECTED,
+	ROBOT_MODE_CONFIRM_SAFETY,
+	ROBOT_MODE_BOOTING,
+	ROBOT_MODE_POWER_OFF,
+	ROBOT_MODE_POWER_ON,
+	ROBOT_MODE_IDLE,
+	ROBOT_MODE_BACKDRIVE,
+	ROBOT_MODE_RUNNING,
+	ROBOT_MODE_UPDATING_FIRMWARE,
+} robotModes;
+
+enum {
+	CONTROL_MODE_POSITION = 0,
+	CONTROL_MODE_TEACH,
+	CONTROL_MODE_FORCE,
+	CONTROL_MODE_TORQUE,
+} controlModes;
+
+enum {
+    JOINT_MODE_RESET =235,
+    JOINT_MODE_SHUTTING_DOWN,
+    JOINT_PART_D_CALIBRATION_MODE,
+    JOINT_MODE_BACKDRIVE,
+    JOINT_MODE_POWER_OFF,
+    JOINT_MODE_READY_FOR_POWER_OFF,
+    JOINT_MODE_NOT_RESPONDING,
+    JOINT_MODE_MOTOR_INITIALISATION,
+    JOINT_MODE_BOOTING,
+    JOINT_PART_D_CALIBRATION_ERROR_MODE,
+    JOINT_MODE_BOOTLOADER,
+    JOINT_CALIBRATION_MODE,
+    JOINT_MODE_VIOLATION,
+    JOINT_MODE_FAULT,
+    JOINT_MODE_RUNNING,
+    JOINT_MODE_IDLE
+} jointModes;
+
+enum {
+    SAFETY_MODE_NORMAL = 1,
+    SAFETY_MODE_REDUCED,
+    SAFETY_MODE_PROTECTIVE_STOP,
+    SAFETY_MODE_RECOVERY,
+    SAFETY_MODE_SAFEGUARD_STOP,
+    SAFETY_MODE_SYSTEM_EMERGENCY_STOP,
+    SAFETY_MODE_ROBOT_EMERGENCY_STOP,
+    SAFETY_MODE_VIOLATION,
+    SAFETY_MODE_FAULT,
+    SAFETY_MODE_VALIDATE_JOINT_ID,
+    SAFETY_MODE_UNDEFINED_SAFETY_MODE
+} safetyModes;
+
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	uint64_t timestamp;
+	char source;
+	char robotMessageType;
+	char projectNameSize;
+	std::string *projectName=NULL;
+	unsigned char majorVersion;
+	unsigned char minorVersion;
+	unsigned char bugFixVersion;
+	unsigned char buildNumber;
+	std::string *buildDate=NULL;
+} versionMessage_t;
+
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	int64_t timestamp;
+	unsigned char isRealRobotConnected;
+	unsigned char isRealRobotEnabled;
+	unsigned char isRobotPowerOn;
+	unsigned char isEmergencyStopped;
+	unsigned char isProtectiveStopped;
+	unsigned char isProgramRunning;
+	unsigned char isProgramPaused;
+	unsigned char robotMode;
+	unsigned char controlMode;
+	double targetSpeedFraction;
+	double speedScaling;
+	double targetSpeedFractionLimit;
+	unsigned char internalValue;
+} robotModeData_t;
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	struct {
+		double actual;
+		double target;
+		double speedActual;
+		float current;
+		float voltage;
+		float motorTemp;
+		float nc;
+		unsigned char mode;
+	} jointParam [JOINT_NUMBER];
+} jointData_t;
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	union {
+		struct{
+			double X;
+			double Y;
+			double Z;
+			double RX;
+			double RY;
+			double RZ;
+		};
+		double pos [6];
+	} cartPosition;
+	union {
+		struct{
+			double ofstX;
+			double ofstY;
+			double ofstZ;
+			double ofstRX;
+			double ofstRY;
+			double ofstRZ;
+		};
+		double ofst [6];
+	} cartTCPoffset;
+} cartesianInfo_t;
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	uint32_t digitalInputBits;
+	uint32_t digitalOutputBits;
+	unsigned char analogInputRange0;
+	unsigned char analogInputRange1;
+	double analogInput0;
+	double analogInput1;
+	char analogOutputDomain0;
+	char analogOutputDomain1;
+	double analogOutput0;
+	double analogOutput1;
+	float masterBoardTemperature;
+	float robotVoltage48V;
+	float robotCurrent;
+	float masterIOCurrent;
+	unsigned char safetyMode;
+	unsigned char InReducedMode;
+	char euromap67InterfaceInstalled;
+	#ifdef EUROMAP
+	  uint32_t euromapInputBits;
+	  uint32_t euromapOutputBits;
+	  float euromapVoltage24V;
+	  float euromapCurrent;
+	#endif
+	uint32_t nc;
+	unsigned char operationalModeSelectorInput;
+	unsigned char threePositionEnblingDeviceInput;
+} masterBoardData_t;
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	unsigned char analogInputRange0;
+	unsigned char analogInputRange1;
+	double analogInput0;
+	double analogInput1;
+	float toolVoltage48V;
+	unsigned char toolOutputVoltage;
+	float toolCurrent;
+	float toolTemperature;
+	unsigned char toolMode;
+} toolData_t;
+
+
+typedef struct {
+	double DHa [JOINT_NUMBER];
+	double DHd [JOINT_NUMBER];
+	double DHalpha [JOINT_NUMBER];
+	double DHtheta [JOINT_NUMBER];
+} kineDH_t;
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	uint32_t checksum [JOINT_NUMBER];
+	kineDH_t kinematics;
+	unsigned char calibration_status;
+} kinematicsInfo_t;
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	struct {
+		double min;
+		double max;
+	} jointPositionLimits [JOINT_NUMBER];
+	struct {
+		double min;
+		double max;
+	} jointSpeedLimits [JOINT_NUMBER];
+	double vJointDefault;
+	double aJointDefault;
+	double vToolDefault;
+	double aToolDefault;
+	double eqRadius;
+	kineDH_t kinematics;
+	int32_t masterboardVersion;
+	int32_t controllerBoxType;
+	int32_t robotType;
+	int32_t robotSubType;
+} configurationData_t;
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	union {
+		struct{
+			double FX;
+			double FY;
+			double FZ;
+			double FRX;
+			double FRY;
+			double FRZ;
+		};
+		double force[6];
+	} forcePosition;
+	double robotDexterity;
+} forceModeData_t;
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	unsigned char feedriveButtonPressed;
+	unsigned char feedriveButtonEnabled;
+	unsigned char ioEnableFeedrive;
+} additionalInfo_t;
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	union {
+		struct{
+			double FX;
+			double FY;
+			double FZ;
+			double FRX;
+			double FRY;
+			double FRZ;
+		};
+		double force[6];
+	} fcalData;
+} calibrationData_t;
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	unsigned char communicationIsEnabled;
+	int32_t baudRate;
+	int32_t parity;
+	int32_t stopBits;
+	float rxIdleChars;
+	float txIdleChars;
+} toolCommunicationInfo_t;
+
+typedef struct {
+	int32_t packageSize;
+	unsigned char packageType;
+	unsigned char outputMode;
+	unsigned char digitalModeOut0;
+	unsigned char digitalModeOut1;
+} toolModeInfo_t;
+
+typedef struct {
+	versionMessage_t 	versonMessage;
+	configurationData_t configuration;
+	calibrationData_t 	calibrationData;
+	robotModeData_t		robotMode;
+	forceModeData_t 	forceMode;
+	kinematicsInfo_t	kineInfo;
+	jointData_t 		jointData;
+	cartesianInfo_t 	cartesianInfo;
+	additionalInfo_t 	additionalInfo;
+	toolData_t 			toolData;
+	toolModeInfo_t 		toolMode;
+	toolCommunicationInfo_t toolCom;
+	masterBoardData_t 	masterBoard;
+	time_t 				lastUpdate;
+} clientData_t;
+
+
+typedef struct {
+	union{
+		struct {
+			double X,Y,Z,RX,RY,RZ;
+		};
+		double p[JOINT_NUMBER];
+	};
+} pose_t;
+
+typedef struct {
+	union{
+		struct {
+			double J1,J2,J3,J4,J5,J6;
+		};
+		double p[JOINT_NUMBER];
+	};
+} jointPose_t;
+
+