Obbart/universal_robots_ros_driver
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Major refactor

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This commit is contained in:
Simon Rasmussen
2017-04-27 06:40:03 +02:00
parent 46f4e493cf
commit c59bfc78cc
22 changed files with 825 additions and 423 deletions
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164
src/ur/commander.cpp
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@@ -3,10 +3,21 @@
bool URCommander::write(std::string& s)
{
size_t len = s.size();
const uint8_t* data = reinterpret_cast<const uint8_t*>(s.c_str());
ssize_t res = stream_.send(data, len);
return res > 0 && static_cast<size_t>(res) == len;
size_t len = s.size();
const uint8_t* data = reinterpret_cast<const uint8_t*>(s.c_str());
size_t written;
return stream_.write(data, len, written);
}
void URCommander::formatArray(std::ostringstream &out, std::array<double, 6> &values)
{
std::string mod("[");
for(auto const& val : values)
{
out << mod << val;
mod = ",";
}
out << "]";
}
bool URCommander::uploadProg(std::string &s)
@@ -14,59 +25,110 @@ bool URCommander::uploadProg(std::string &s)
return write(s);
}
bool URCommander::speedj(std::array<double, 6> &speeds, double acceleration)
{
std::ostringstream out;
out << std::fixed << std::setprecision(4);
out << "speedj([";
std::string mod;
for(auto const& val : speeds)
{
out << mod << val;
mod = ",";
}
out << "]," << acceleration << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander::stopj(double a)
{
}
bool URCommander::setAnalogOut(uint8_t pin, double value)
{
std::ostringstream out;
out << "set_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(4) << value << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander::setDigitalOut(uint8_t pin, bool value)
{
std::ostringstream out;
out << "set_digital_out(" << (int)pin << "," << (value ? "True" : "False") << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander::setToolVoltage(uint8_t voltage)
{
}
if(voltage != 0 || voltage != 12 || voltage != 24)
return false;
std::ostringstream out;
out << "set_tool_voltage(" << (int)voltage << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander::setFlag(uint8_t pin, bool value)
{
std::ostringstream out;
out << "set_flag(" << (int)pin << "," << (value ? "True" : "False") << ")\n";
std::string s(out.str());
return write(s);
std::ostringstream out;
out << "set_flag(" << (int)pin << "," << (value ? "True" : "False") << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander::setPayload(double value)
{
std::ostringstream out;
out << "set_payload(" << std::fixed << std::setprecision(4) << value << ")\n";
std::string s(out.str());
return write(s);
}
std::ostringstream out;
out << "set_payload(" << std::fixed << std::setprecision(5) << value << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander::stopj(double a)
{
std::ostringstream out;
out << "stopj(" << std::fixed << std::setprecision(5) << a << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander_V1_X::speedj(std::array<double, 6> &speeds, double acceleration)
{
std::ostringstream out;
out << std::fixed << std::setprecision(5);
out << "speedj(";
formatArray(out, speeds);
out << "," << acceleration << "," << 0.02 << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander_V1_X::setAnalogOut(uint8_t pin, double value)
{
std::ostringstream out;
out << "set_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(4) << value << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander_V1_X::setDigitalOut(uint8_t pin, bool value)
{
std::ostringstream out;
out << "set_digital_out(" << (int)pin << "," << (value ? "True" : "False") << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander_V3_X::speedj(std::array<double, 6> &speeds, double acceleration)
{
std::ostringstream out;
out << std::fixed << std::setprecision(5);
out << "speedj(";
formatArray(out, speeds);
out << "," << acceleration << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander_V3_X::setAnalogOut(uint8_t pin, double value)
{
std::ostringstream out;
out << "set_standard_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(5) << value << ")\n";
std::string s(out.str());
return write(s);
}
bool URCommander_V3_X::setDigitalOut(uint8_t pin, bool value)
{
std::ostringstream out;
std::string func;
if(pin < 8)
{
func = "set_standard_digital_out";
}
else if(pin < 16)
{
func = "set_configurable_digital_out";
pin -= 8;
}
else if(pin < 18)
{
func = "set_tool_digital_out";
pin -= 16;
}
else
return false;
out << func << "(" << (int)pin << "," << (value ? "True" : "False") << ")\n";
std::string s(out.str());
return write(s);
}