Obbart/universal_robots_ros_driver
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Added som ROS_DEBUG messages for IO states

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This commit is contained in:
Thomas Timm Andersen
2015-09-16 15:11:49 +02:00
parent 12b92c14db
commit 61dac1e977
1 changed files with 29 additions and 5 deletions
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34
src/ur_driver.cpp
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@@ -123,14 +123,24 @@ void UrDriver::setJointNames(std::vector<std::string> jn) {
void UrDriver::setToolVoltage(unsigned int v) { void UrDriver::setToolVoltage(unsigned int v) {
char buf[256]; char buf[256];
sprintf(buf, "sec setOut():\n\tset_tool_voltage(%d)\nend\n", v); sprintf(buf, "sec setOut():\n\tset_tool_voltage(%d)\nend\n", v);
//printf("%s", buf); #ifdef ROS_BUILD
ROS_DEBUG("%s", buf);
#else
printf("%s", buf);
#endif
rt_interface_->addCommandToQueue(buf); rt_interface_->addCommandToQueue(buf);
} }
void UrDriver::setFlag(unsigned int n, bool b) { void UrDriver::setFlag(unsigned int n, bool b) {
char buf[256]; char buf[256];
sprintf(buf, "sec setOut():\n\tset_flag(%d, %s)\nend\n", n, sprintf(buf, "sec setOut():\n\tset_flag(%d, %s)\nend\n", n,
b ? "True" : "False"); b ? "True" : "False");
//printf("%s", buf); #ifdef ROS_BUILD
ROS_DEBUG("%s", buf);
#else
printf("%s", buf);
#endif
rt_interface_->addCommandToQueue(buf); rt_interface_->addCommandToQueue(buf);
} }
@@ -138,14 +148,24 @@ void UrDriver::setDigitalOut(unsigned int n, bool b) {
char buf[256]; char buf[256];
sprintf(buf, "sec setOut():\n\tset_digital_out(%d, %s)\nend\n", n, sprintf(buf, "sec setOut():\n\tset_digital_out(%d, %s)\nend\n", n,
b ? "True" : "False"); b ? "True" : "False");
//printf("%s", buf); #ifdef ROS_BUILD
ROS_DEBUG("%s", buf);
#else
printf("%s", buf);
#endif
rt_interface_->addCommandToQueue(buf); rt_interface_->addCommandToQueue(buf);
} }
void UrDriver::setAnalogOut(unsigned int n, double f) { void UrDriver::setAnalogOut(unsigned int n, double f) {
char buf[256]; char buf[256];
sprintf(buf, "sec setOut():\n\tset_analog_out(%d, %1.4f)\nend\n", n, f); sprintf(buf, "sec setOut():\n\tset_analog_out(%d, %1.4f)\nend\n", n, f);
//printf("%s", buf); #ifdef ROS_BUILD
ROS_DEBUG("%s", buf);
#else
printf("%s", buf);
#endif
rt_interface_->addCommandToQueue(buf); rt_interface_->addCommandToQueue(buf);
} }
@@ -153,7 +173,11 @@ bool UrDriver::setPayload(double m) {
if ((m < maximum_payload_) && (m > minimum_payload_)) { if ((m < maximum_payload_) && (m > minimum_payload_)) {
char buf[256]; char buf[256];
sprintf(buf, "sec setOut():\n\tset_payload(%1.3f)\nend\n", m); sprintf(buf, "sec setOut():\n\tset_payload(%1.3f)\nend\n", m);
printf("%s", buf); #ifdef ROS_BUILD
ROS_DEBUG("%s", buf);
#else
printf("%s", buf);
#endif
rt_interface_->addCommandToQueue(buf); rt_interface_->addCommandToQueue(buf);
return true; return true;
} else } else