Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-12 11:00:47 +02:00
Code Releases Activity

Fixed an issue with using a simulated robot on firmware <= 1.8

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-10-20 12:16:38 +02:00
parent 8a4cdb51da
commit 1c3fe82116
3 changed files with 68 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
include/ur_modern_driver/robot_state.h
View File

@@ -54,6 +54,38 @@ enum robot_message_type {
}
typedef robot_message_types::robot_message_type robotMessageType;
namespace robot_state_type_v18 {
enum robot_state_type {
ROBOT_RUNNING_MODE = 0,
ROBOT_FREEDRIVE_MODE = 1,
ROBOT_READY_MODE = 2,
ROBOT_INITIALIZING_MODE = 3,
ROBOT_SECURITY_STOPPED_MODE = 4,
ROBOT_EMERGENCY_STOPPED_MODE = 5,
ROBOT_FATAL_ERROR_MODE = 6,
ROBOT_NO_POWER_MODE = 7,
ROBOT_NOT_CONNECTED_MODE = 8,
ROBOT_SHUTDOWN_MODE = 9,
ROBOT_SAFEGUARD_STOP_MODE = 10
};
}
typedef robot_state_type_v18::robot_state_type robotStateTypeV18;
namespace robot_state_type_v30 {
enum robot_state_type {
ROBOT_MODE_DISCONNECTED = 0,
ROBOT_MODE_CONFIRM_SAFETY = 1,
ROBOT_MODE_BOOTING = 2,
ROBOT_MODE_POWER_OFF = 3,
ROBOT_MODE_POWER_ON = 4,
ROBOT_MODE_IDLE = 5,
ROBOT_MODE_BACKDRIVE = 6,
ROBOT_MODE_RUNNING = 7,
ROBOT_MODE_UPDATING_FIRMWARE = 8
};
}
typedef robot_state_type_v30::robot_state_type robotStateTypeV30;
struct version_message {
uint64_t timestamp;
int8_t source;
@@ -115,6 +147,7 @@ private:
std::condition_variable* pMsg_cond_; //Signals that new vars are available
bool new_data_available_; //to avoid spurious wakes
unsigned char robot_mode_running_;
double ntohd(uint64_t nf);
@@ -154,6 +187,8 @@ public:
bool isProtectiveStopped();
bool isProgramRunning();
bool isProgramPaused();
unsigned char getRobotMode();
bool isReady();
void setDisconnected();