Obbart/universal_robots_ros_driver
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implemented setting of standard digital and analog outputs via SetIO service

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This commit is contained in:
Tristan Schnell
2019-07-31 14:57:06 +02:00
parent dc660b854d
commit f628ab353f
6 changed files with 98 additions and 9 deletions
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2
ur_rtde_driver/src/rtde/data_package.cpp
View File

@@ -220,6 +220,8 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
{ "tool_digital_output", uint8_t() },
{ "standard_analog_output_mask", uint8_t() },
{ "standard_analog_output_type", uint8_t() },
{ "standard_analog_output_0", double() },
{ "standard_analog_output_1", double() },
};
void rtde_interface::DataPackage::initEmpty()

73
ur_rtde_driver/src/rtde/rtde_writer.cpp
View File

@@ -63,19 +63,47 @@ bool RTDEWriter::sendSpeedSlider(double speed_slider_fraction)
package.reset(new DataPackage(recipe_));
package->initEmpty();
uint32_t mask = 1;
package->setData("speed_slider_mask", mask);
package->setData("speed_slider_fraction", speed_slider_fraction);
bool success = true;
success = package->setData("speed_slider_mask", mask);
success = success && package->setData("speed_slider_fraction", speed_slider_fraction);
if (!queue_.tryEnqueue(std::move(package)))
if (success)
{
return false;
if (!queue_.tryEnqueue(std::move(package)))
{
return false;
}
}
return true;
return success;
}
bool RTDEWriter::sendStandardDigitalOutput(uint8_t output_pin, bool value)
{
return false;
std::unique_ptr<DataPackage> package;
package.reset(new DataPackage(recipe_));
package->initEmpty();
uint8_t mask = pinToMask(output_pin);
bool success = true;
uint8_t digital_output;
if (value)
{
digital_output = 255;
}
else
{
digital_output = 0;
}
success = package->setData("standard_digital_output_mask", mask);
success = success && package->setData("standard_digital_output", digital_output);
if (success)
{
if (!queue_.tryEnqueue(std::move(package)))
{
return false;
}
}
return success;
}
bool RTDEWriter::sendConfigurableDigitalOutput(uint8_t output_pin, bool value)
@@ -88,9 +116,38 @@ bool RTDEWriter::sendToolDigitalOutput(bool value)
return false;
}
bool RTDEWriter::sendStandardAnalogOuput(uint8_t output_pin, bool value)
bool RTDEWriter::sendStandardAnalogOuput(uint8_t output_pin, double value)
{
return false;
std::unique_ptr<DataPackage> package;
package.reset(new DataPackage(recipe_));
package->initEmpty();
uint8_t mask = pinToMask(output_pin);
// default to current for now, as no functionality to choose included in set io service
uint8_t output_type = 0;
bool success = true;
success = package->setData("standard_analog_output_mask", mask);
success = success && package->setData("standard_analog_output_type", output_type);
success = success && package->setData("standard_analog_output_0", value);
success = success && package->setData("standard_analog_output_1", value);
if (success)
{
if (!queue_.tryEnqueue(std::move(package)))
{
return false;
}
}
return success;
}
uint8_t RTDEWriter::pinToMask(uint8_t pin)
{
if (pin > 7)
{
return 0;
}
return 1 << pin;
}
} // namespace rtde_interface