renamed package

include/ur_rtde_driver/ur/commander.h

@@ -0,0 +1,93 @@
+/*
+ * Copyright 2017, 2018 Simon Rasmussen (refactor)
+ *
+ * Copyright 2015, 2016 Thomas Timm Andersen (original version)
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+#include <array>
+#include <iomanip>
+#include <sstream>
+#include "ur_rtde_driver/ur/stream.h"
+
+class URCommander
+{
+private:
+  URStream &stream_;
+
+protected:
+  bool write(const std::string &s);
+  void formatArray(std::ostringstream &out, std::array<double, 6> &values);
+
+public:
+  URCommander(URStream &stream) : stream_(stream)
+  {
+  }
+
+  virtual bool speedj(std::array<double, 6> &speeds, double acceleration) = 0;
+  virtual bool setDigitalOut(uint8_t pin, bool value) = 0;
+  virtual bool setAnalogOut(uint8_t pin, double value) = 0;
+
+  // shared
+  bool uploadProg(const std::string &s);
+  bool stopj(double a = 10.0);
+  bool setToolVoltage(uint8_t voltage);
+  bool setFlag(uint8_t pin, bool value);
+  bool setPayload(double value);
+};
+
+class URCommander_V1_X : public URCommander
+{
+public:
+  URCommander_V1_X(URStream &stream) : URCommander(stream)
+  {
+  }
+
+  virtual bool speedj(std::array<double, 6> &speeds, double acceleration);
+  virtual bool setDigitalOut(uint8_t pin, bool value);
+  virtual bool setAnalogOut(uint8_t pin, double value);
+};
+
+class URCommander_V3_X : public URCommander
+{
+public:
+  URCommander_V3_X(URStream &stream) : URCommander(stream)
+  {
+  }
+
+  virtual bool speedj(std::array<double, 6> &speeds, double acceleration) = 0;
+  virtual bool setDigitalOut(uint8_t pin, bool value);
+  virtual bool setAnalogOut(uint8_t pin, double value);
+};
+
+class URCommander_V3_1__2 : public URCommander_V3_X
+{
+public:
+  URCommander_V3_1__2(URStream &stream) : URCommander_V3_X(stream)
+  {
+  }
+
+  virtual bool speedj(std::array<double, 6> &speeds, double acceleration);
+};
+
+class URCommander_V3_3 : public URCommander_V3_X
+{
+public:
+  URCommander_V3_3(URStream &stream) : URCommander_V3_X(stream)
+  {
+  }
+
+  virtual bool speedj(std::array<double, 6> &speeds, double acceleration);
+};