mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
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100 lines
2.9 KiB
C++
100 lines
2.9 KiB
C++
/*
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* ur_driver
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*
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* Copyright 2015 Thomas Timm Andersen
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef UR_DRIVER_H_
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#define UR_DRIVER_H_
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#include <mutex>
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#include <condition_variable>
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#include "ur_realtime_communication.h"
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#include "ur_communication.h"
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#include "do_output.h"
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#include <vector>
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#include <math.h>
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#include <string>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <chrono>
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class UrDriver {
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private:
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double maximum_time_step_;
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double minimum_payload_;
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double maximum_payload_;
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std::vector<std::string> joint_names_;
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std::string ip_addr_;
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const int MULT_JOINTSTATE_ = 1000000;
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const int MULT_TIME_ = 1000000;
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const unsigned int REVERSE_PORT_;
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int incoming_sockfd_;
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int new_sockfd_;
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bool reverse_connected_;
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double servoj_time_;
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bool executing_traj_;
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public:
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UrRealtimeCommunication* rt_interface_;
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UrCommunication* sec_interface_;
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UrDriver(std::condition_variable& rt_msg_cond,
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std::condition_variable& msg_cond, std::string host,
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unsigned int reverse_port = 50007, double servoj_time = 0.016, unsigned int safety_count_max =
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12, double max_time_step = 0.08, double min_payload = 0.,
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double max_payload = 1.);
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bool start();
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void halt();
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void setSpeed(double q0, double q1, double q2, double q3, double q4,
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double q5, double acc = 100.);
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/* void addTraj(
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std::vector<double> inp_timestamps, //DEPRECATED
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std::vector<std::vector<double> > positions,
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std::vector<std::vector<double> > velocities); */
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bool doTraj(std::vector<double> inp_timestamps,
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std::vector<std::vector<double> > inp_positions,
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std::vector<std::vector<double> > inp_velocities);
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void servoj(std::vector<double> positions, int keepalive = 1);
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void stopTraj();
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bool uploadProg();
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bool openServo();
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void closeServo(std::vector<double> positions);
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std::vector<double> interp_cubic(double t, double T,
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std::vector<double> p0_pos, std::vector<double> p1_pos,
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std::vector<double> p0_vel, std::vector<double> p1_vel);
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std::vector<std::string> getJointNames();
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void setJointNames(std::vector<std::string> jn);
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void setToolVoltage(unsigned int v);
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void setFlag(unsigned int n, bool b);
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void setDigitalOut(unsigned int n, bool b);
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void setAnalogOut(unsigned int n, double f);
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bool setPayload(double m);
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void setMinPayload(double m);
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void setMaxPayload(double m);
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void setServojTime(double t);
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};
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#endif /* UR_DRIVER_H_ */
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