universal_robots_ros_driver/include/ur_modern_driver/robot_state.h

/*
 * robot_state.h
 *
 *  Created on: Sep 10, 2015
 *      Author: ttan
 */

#ifndef ROBOT_STATE_H_
#define ROBOT_STATE_H_

#include <inttypes.h>
#include <vector>
#include <stdlib.h>
#include <string.h>
#include <mutex>
#include <condition_variable>
#include <netinet/in.h>

namespace message_types {
enum message_type {
	ROBOT_STATE = 16, ROBOT_MESSAGE = 20, PROGRAM_STATE_MESSAGE = 25
};
}
typedef message_types::message_type messageType;

namespace package_types {
enum package_type {
	ROBOT_MODE_DATA = 0,
	JOINT_DATA = 1,
	TOOL_DATA = 2,
	MASTERBOARD_DATA = 3,
	CARTESIAN_INFO = 4,
	KINEMATICS_INFO = 5,
	CONFIGURATION_DATA = 6,
	FORCE_MODE_DATA = 7,
	ADDITIONAL_INFO = 8,
	CALIBRATION_DATA = 9
};
}
typedef package_types::package_type packageType;

namespace robot_message_types {
enum robot_message_type {
	ROBOT_MESSAGE_TEXT = 0,
	ROBOT_MESSAGE_PROGRAM_LABEL = 1,
	PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
	ROBOT_MESSAGE_VERSION = 3,
	ROBOT_MESSAGE_SAFETY_MODE = 5,
	ROBOT_MESSAGE_ERROR_CODE = 6,
	ROBOT_MESSAGE_KEY = 7,
	ROBOT_MESSAGE_REQUEST_VALUE = 9,
	ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
};
}
typedef robot_message_types::robot_message_type robotMessageType;

struct version_message {
	uint64_t timestamp;
	int8_t source;
	int8_t robot_message_type;
	int8_t project_name_size;
	char project_name[15];
	uint8_t major_version;
	uint8_t minor_version;
	int svn_revision;
	char build_date[25];
};

struct masterboard_data {
	int digitalInputBits;
	int digitalOutputBits;
	char analogInputRange0;
	char analogInputRange1;
	double analogInput0;
	double analogInput1;
	char analogOutputDomain0;
	char analogOutputDomain1;
	double analogOutput0;
	double analogOutput1;
	float masterBoardTemperature;
	float robotVoltage48V;
	float robotCurrent;
	float masterIOCurrent;
	unsigned char safetyMode;
	unsigned char masterOnOffState;
	char euromap67InterfaceInstalled;
	int euromapInputBits;
	int euromapOutputBits;
	float euromapVoltage;
	float euromapCurrent;
};

struct robot_mode_data {
	uint64_t timestamp;
	bool isRobotConnected;
	bool isRealRobotEnabled;
	bool isPowerOnRobot;
	bool isEmergencyStopped;
	bool isProtectiveStopped;
	bool isProgramRunning;
	bool isProgramPaused;
	unsigned char robotMode;
	unsigned char controlMode;
	double targetSpeedFraction;
	double speedScaling;
};

class RobotState {
private:
	version_message version_msg_;
	masterboard_data mb_data_;
	robot_mode_data robot_mode_;

	std::recursive_mutex val_lock_; // Locks the variables while unpack parses data;

	std::condition_variable* pMsg_cond_; //Signals that new vars are available
	bool new_data_available_; //to avoid spurious wakes

	double ntohd(uint64_t nf);

public:
	RobotState(std::condition_variable& msg_cond);
	~RobotState();
	double getVersion();
	double getTime();
	std::vector<double> getQTarget();
	int getDigitalInputBits();
	int getDigitalOutputBits();
	char getAnalogInputRange0();
	char getAnalogInputRange1();
	double getAnalogInput0();
	double getAnalogInput1();
	char getAnalogOutputDomain0();
	char getAnalogOutputDomain1();
	double getAnalogOutput0();
	double getAnalogOutput1();
	std::vector<double> getVActual();
	float getMasterBoardTemperature();
	float getRobotVoltage48V();
	float getRobotCurrent();
	float getMasterIOCurrent();
	unsigned char getSafetyMode();
	unsigned char getInReducedMode();
	char getEuromap67InterfaceInstalled();
	int getEuromapInputBits();
	int getEuromapOutputBits();
	float getEuromapVoltage();
	float getEuromapCurrent();

	bool isRobotConnected();
	bool isRealRobotEnabled();
	bool isPowerOnRobot();
	bool isEmergencyStopped();
	bool isProtectiveStopped();
	bool isProgramRunning();
	bool isProgramPaused();

	void setDisconnected();

	bool getNewDataAvailable();
	void finishedReading();

	void unpack(uint8_t * buf, unsigned int buf_length);
	void unpackRobotMessage(uint8_t * buf, unsigned int offset, uint32_t len);
	void unpackRobotMessageVersion(uint8_t * buf, unsigned int offset,
			uint32_t len);
	void unpackRobotState(uint8_t * buf, unsigned int offset, uint32_t len);
	void unpackRobotStateMasterboard(uint8_t * buf, unsigned int offset);
	void unpackRobotMode(uint8_t * buf, unsigned int offset);
};

#endif /* ROBOT_STATE_H_ */