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https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 18:10:47 +02:00
Adopted roscpp code style and naming convention
This commit is contained in:
Simon Rasmussen
@@ -19,202 +19,215 @@
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#ifndef ROBOT_STATE_H_
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#define ROBOT_STATE_H_
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#include <condition_variable>
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#include <inttypes.h>
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#include <mutex>
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#include <netinet/in.h>
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#include <stdlib.h>
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#include <string.h>
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#include <condition_variable>
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#include <mutex>
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#include <vector>
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namespace message_types {
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enum message_type {
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ROBOT_STATE = 16,
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ROBOT_MESSAGE = 20,
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PROGRAM_STATE_MESSAGE = 25
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namespace message_types
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{
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enum message_type
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{
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ROBOT_STATE = 16,
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ROBOT_MESSAGE = 20,
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PROGRAM_STATE_MESSAGE = 25
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};
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}
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typedef message_types::message_type messageType;
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namespace package_types {
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enum package_type {
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ROBOT_MODE_DATA = 0,
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JOINT_DATA = 1,
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TOOL_DATA = 2,
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MASTERBOARD_DATA = 3,
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CARTESIAN_INFO = 4,
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KINEMATICS_INFO = 5,
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CONFIGURATION_DATA = 6,
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FORCE_MODE_DATA = 7,
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ADDITIONAL_INFO = 8,
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CALIBRATION_DATA = 9
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namespace package_types
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{
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enum package_type
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{
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ROBOT_MODE_DATA = 0,
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JOINT_DATA = 1,
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TOOL_DATA = 2,
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MASTERBOARD_DATA = 3,
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CARTESIAN_INFO = 4,
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KINEMATICS_INFO = 5,
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CONFIGURATION_DATA = 6,
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FORCE_MODE_DATA = 7,
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ADDITIONAL_INFO = 8,
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CALIBRATION_DATA = 9
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};
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}
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typedef package_types::package_type packageType;
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namespace robot_message_types {
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enum robot_message_type {
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ROBOT_MESSAGE_TEXT = 0,
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ROBOT_MESSAGE_PROGRAM_LABEL = 1,
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PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
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ROBOT_MESSAGE_VERSION = 3,
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ROBOT_MESSAGE_SAFETY_MODE = 5,
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ROBOT_MESSAGE_ERROR_CODE = 6,
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ROBOT_MESSAGE_KEY = 7,
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ROBOT_MESSAGE_REQUEST_VALUE = 9,
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ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
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namespace robot_message_types
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{
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enum robot_message_type
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{
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ROBOT_MESSAGE_TEXT = 0,
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ROBOT_MESSAGE_PROGRAM_LABEL = 1,
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PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
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ROBOT_MESSAGE_VERSION = 3,
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ROBOT_MESSAGE_SAFETY_MODE = 5,
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ROBOT_MESSAGE_ERROR_CODE = 6,
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ROBOT_MESSAGE_KEY = 7,
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ROBOT_MESSAGE_REQUEST_VALUE = 9,
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ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
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};
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}
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typedef robot_message_types::robot_message_type robotMessageType;
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namespace robot_state_type_v18 {
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enum robot_state_type {
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ROBOT_RUNNING_MODE = 0,
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ROBOT_FREEDRIVE_MODE = 1,
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ROBOT_READY_MODE = 2,
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ROBOT_INITIALIZING_MODE = 3,
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ROBOT_SECURITY_STOPPED_MODE = 4,
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ROBOT_EMERGENCY_STOPPED_MODE = 5,
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ROBOT_FATAL_ERROR_MODE = 6,
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ROBOT_NO_POWER_MODE = 7,
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ROBOT_NOT_CONNECTED_MODE = 8,
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ROBOT_SHUTDOWN_MODE = 9,
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ROBOT_SAFEGUARD_STOP_MODE = 10
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namespace robot_state_type_v18
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{
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enum robot_state_type
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{
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ROBOT_RUNNING_MODE = 0,
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ROBOT_FREEDRIVE_MODE = 1,
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ROBOT_READY_MODE = 2,
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ROBOT_INITIALIZING_MODE = 3,
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ROBOT_SECURITY_STOPPED_MODE = 4,
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ROBOT_EMERGENCY_STOPPED_MODE = 5,
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ROBOT_FATAL_ERROR_MODE = 6,
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ROBOT_NO_POWER_MODE = 7,
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ROBOT_NOT_CONNECTED_MODE = 8,
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ROBOT_SHUTDOWN_MODE = 9,
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ROBOT_SAFEGUARD_STOP_MODE = 10
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};
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}
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typedef robot_state_type_v18::robot_state_type robotStateTypeV18;
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namespace robot_state_type_v30 {
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enum robot_state_type {
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ROBOT_MODE_DISCONNECTED = 0,
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ROBOT_MODE_CONFIRM_SAFETY = 1,
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ROBOT_MODE_BOOTING = 2,
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ROBOT_MODE_POWER_OFF = 3,
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ROBOT_MODE_POWER_ON = 4,
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ROBOT_MODE_IDLE = 5,
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ROBOT_MODE_BACKDRIVE = 6,
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ROBOT_MODE_RUNNING = 7,
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ROBOT_MODE_UPDATING_FIRMWARE = 8
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namespace robot_state_type_v30
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{
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enum robot_state_type
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{
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ROBOT_MODE_DISCONNECTED = 0,
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ROBOT_MODE_CONFIRM_SAFETY = 1,
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ROBOT_MODE_BOOTING = 2,
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ROBOT_MODE_POWER_OFF = 3,
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ROBOT_MODE_POWER_ON = 4,
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ROBOT_MODE_IDLE = 5,
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ROBOT_MODE_BACKDRIVE = 6,
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ROBOT_MODE_RUNNING = 7,
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ROBOT_MODE_UPDATING_FIRMWARE = 8
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};
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}
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typedef robot_state_type_v30::robot_state_type robotStateTypeV30;
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struct version_message {
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uint64_t timestamp;
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int8_t source;
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int8_t robot_message_type;
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int8_t project_name_size;
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char project_name[15];
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uint8_t major_version;
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uint8_t minor_version;
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int svn_revision;
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char build_date[25];
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struct version_message
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{
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uint64_t timestamp;
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int8_t source;
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int8_t robot_message_type;
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int8_t project_name_size;
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char project_name[15];
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uint8_t major_version;
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uint8_t minor_version;
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int svn_revision;
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char build_date[25];
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};
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struct masterboard_data {
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int digitalInputBits;
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int digitalOutputBits;
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char analogInputRange0;
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char analogInputRange1;
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double analogInput0;
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double analogInput1;
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char analogOutputDomain0;
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char analogOutputDomain1;
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double analogOutput0;
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double analogOutput1;
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float masterBoardTemperature;
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float robotVoltage48V;
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float robotCurrent;
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float masterIOCurrent;
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unsigned char safetyMode;
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unsigned char masterOnOffState;
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char euromap67InterfaceInstalled;
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int euromapInputBits;
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int euromapOutputBits;
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float euromapVoltage;
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float euromapCurrent;
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struct masterboard_data
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{
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int digitalInputBits;
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int digitalOutputBits;
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char analogInputRange0;
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char analogInputRange1;
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double analogInput0;
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double analogInput1;
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char analogOutputDomain0;
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char analogOutputDomain1;
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double analogOutput0;
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double analogOutput1;
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float masterBoardTemperature;
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float robotVoltage48V;
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float robotCurrent;
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float masterIOCurrent;
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unsigned char safetyMode;
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unsigned char masterOnOffState;
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char euromap67InterfaceInstalled;
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int euromapInputBits;
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int euromapOutputBits;
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float euromapVoltage;
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float euromapCurrent;
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};
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struct robot_mode_data {
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uint64_t timestamp;
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bool isRobotConnected;
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bool isRealRobotEnabled;
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bool isPowerOnRobot;
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bool isEmergencyStopped;
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bool isProtectiveStopped;
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bool isProgramRunning;
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bool isProgramPaused;
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unsigned char robotMode;
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unsigned char controlMode;
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double targetSpeedFraction;
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double speedScaling;
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struct robot_mode_data
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{
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uint64_t timestamp;
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bool isRobotConnected;
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bool isRealRobotEnabled;
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bool isPowerOnRobot;
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bool isEmergencyStopped;
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bool isProtectiveStopped;
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bool isProgramRunning;
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bool isProgramPaused;
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unsigned char robotMode;
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unsigned char controlMode;
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double targetSpeedFraction;
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double speedScaling;
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};
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class RobotState {
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class RobotState
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{
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private:
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version_message version_msg_;
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masterboard_data mb_data_;
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robot_mode_data robot_mode_;
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version_message version_msg_;
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masterboard_data mb_data_;
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robot_mode_data robot_mode_;
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std::recursive_mutex val_lock_; // Locks the variables while unpack parses data;
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std::recursive_mutex val_lock_; // Locks the variables while unpack parses data;
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std::condition_variable* pMsg_cond_; //Signals that new vars are available
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bool new_data_available_; //to avoid spurious wakes
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unsigned char robot_mode_running_;
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std::condition_variable* pMsg_cond_; // Signals that new vars are available
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bool new_data_available_; // to avoid spurious wakes
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unsigned char robot_mode_running_;
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double ntohd(uint64_t nf);
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double ntohd(uint64_t nf);
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public:
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RobotState(std::condition_variable& msg_cond);
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~RobotState();
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double getVersion();
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double getTime();
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std::vector<double> getQTarget();
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int getDigitalInputBits();
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int getDigitalOutputBits();
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char getAnalogInputRange0();
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char getAnalogInputRange1();
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double getAnalogInput0();
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double getAnalogInput1();
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char getAnalogOutputDomain0();
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char getAnalogOutputDomain1();
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double getAnalogOutput0();
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double getAnalogOutput1();
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std::vector<double> getVActual();
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float getMasterBoardTemperature();
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float getRobotVoltage48V();
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float getRobotCurrent();
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float getMasterIOCurrent();
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unsigned char getSafetyMode();
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unsigned char getInReducedMode();
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char getEuromap67InterfaceInstalled();
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int getEuromapInputBits();
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int getEuromapOutputBits();
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float getEuromapVoltage();
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float getEuromapCurrent();
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RobotState(std::condition_variable& msg_cond);
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~RobotState();
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double getVersion();
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double getTime();
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std::vector<double> getQTarget();
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int getDigitalInputBits();
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int getDigitalOutputBits();
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char getAnalogInputRange0();
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char getAnalogInputRange1();
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double getAnalogInput0();
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double getAnalogInput1();
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char getAnalogOutputDomain0();
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char getAnalogOutputDomain1();
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double getAnalogOutput0();
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double getAnalogOutput1();
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std::vector<double> getVActual();
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float getMasterBoardTemperature();
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float getRobotVoltage48V();
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float getRobotCurrent();
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float getMasterIOCurrent();
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unsigned char getSafetyMode();
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unsigned char getInReducedMode();
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char getEuromap67InterfaceInstalled();
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int getEuromapInputBits();
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int getEuromapOutputBits();
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float getEuromapVoltage();
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float getEuromapCurrent();
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bool isRobotConnected();
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bool isRealRobotEnabled();
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bool isPowerOnRobot();
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bool isEmergencyStopped();
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bool isProtectiveStopped();
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bool isProgramRunning();
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bool isProgramPaused();
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unsigned char getRobotMode();
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bool isReady();
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bool isRobotConnected();
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bool isRealRobotEnabled();
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bool isPowerOnRobot();
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bool isEmergencyStopped();
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bool isProtectiveStopped();
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bool isProgramRunning();
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bool isProgramPaused();
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unsigned char getRobotMode();
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bool isReady();
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void setDisconnected();
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void setDisconnected();
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bool getNewDataAvailable();
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void finishedReading();
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bool getNewDataAvailable();
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void finishedReading();
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void unpack(uint8_t* buf, unsigned int buf_length);
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void unpackRobotMessage(uint8_t* buf, unsigned int offset, uint32_t len);
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void unpackRobotMessageVersion(uint8_t* buf, unsigned int offset,
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uint32_t len);
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void unpackRobotState(uint8_t* buf, unsigned int offset, uint32_t len);
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void unpackRobotStateMasterboard(uint8_t* buf, unsigned int offset);
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void unpackRobotMode(uint8_t* buf, unsigned int offset);
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void unpack(uint8_t* buf, unsigned int buf_length);
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void unpackRobotMessage(uint8_t* buf, unsigned int offset, uint32_t len);
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void unpackRobotMessageVersion(uint8_t* buf, unsigned int offset, uint32_t len);
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void unpackRobotState(uint8_t* buf, unsigned int offset, uint32_t len);
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void unpackRobotStateMasterboard(uint8_t* buf, unsigned int offset);
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void unpackRobotMode(uint8_t* buf, unsigned int offset);
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};
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#endif /* ROBOT_STATE_H_ */
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