RoboGlue_QT/libURcom/packagetypes.h

/*
 * 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;
    unsigned char foo;
} 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;