Obbart/universal_robots_ros_driver
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implemented writer functionality for configurable and tool digital output

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This commit is contained in:
Tristan Schnell
2019-07-31 16:55:18 +02:00
parent f628ab353f
commit 02fac9cec0
2 changed files with 52 additions and 4 deletions
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2
ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_writer.h
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@@ -51,7 +51,7 @@ public:
bool sendSpeedSlider(double speed_slider_fraction);
bool sendStandardDigitalOutput(uint8_t output_pin, bool value);
bool sendConfigurableDigitalOutput(uint8_t output_pin, bool value);
bool sendToolDigitalOutput(bool value);
bool sendToolDigitalOutput(uint8_t output_pin, bool value);
bool sendStandardAnalogOuput(uint8_t output_pin, double value);
private:

54
ur_rtde_driver/src/rtde/rtde_writer.cpp
View File

@@ -108,12 +108,60 @@ bool RTDEWriter::sendStandardDigitalOutput(uint8_t output_pin, bool value)
bool RTDEWriter::sendConfigurableDigitalOutput(uint8_t output_pin, bool value)
{
return false;
std::unique_ptr<DataPackage> package;
package.reset(new DataPackage(recipe_));
package->initEmpty();
uint8_t mask = pinToMask(output_pin);
bool success = true;
uint8_t digital_output;
if (value)
{
digital_output = 255;
}
else
{
digital_output = 0;
}
success = package->setData("configurable_digital_output_mask", mask);
success = success && package->setData("configurable_digital_output", digital_output);
if (success)
{
if (!queue_.tryEnqueue(std::move(package)))
{
return false;
}
}
return success;
}
bool RTDEWriter::sendToolDigitalOutput(bool value)
bool RTDEWriter::sendToolDigitalOutput(uint8_t output_pin, bool value)
{
return false;
std::unique_ptr<DataPackage> package;
package.reset(new DataPackage(recipe_));
package->initEmpty();
uint8_t mask = pinToMask(output_pin);
bool success = true;
uint8_t digital_output;
if (value)
{
digital_output = 255;
}
else
{
digital_output = 0;
}
success = package->setData("tooldigital_output_mask", mask);
success = success && package->setData("tooldigital_output", digital_output);
if (success)
{
if (!queue_.tryEnqueue(std::move(package)))
{
return false;
}
}
return success;
}
bool RTDEWriter::sendStandardAnalogOuput(uint8_t output_pin, double value)