mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 10:00:48 +02:00
100 lines
2.8 KiB
C++
100 lines
2.8 KiB
C++
/*
|
|
* Copyright 2019, FZI Forschungszentrum Informatik (templating)
|
|
*
|
|
* 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/comm/stream.h"
|
|
#include "ur_rtde_driver/primary/package_header.h"
|
|
|
|
namespace ur_driver
|
|
{
|
|
class URCommander
|
|
{
|
|
private:
|
|
comm::URStream<primary_interface::PackageHeader>& stream_;
|
|
|
|
protected:
|
|
bool write(const std::string& s);
|
|
void formatArray(std::ostringstream& out, std::array<double, 6>& values);
|
|
|
|
public:
|
|
URCommander(comm::URStream<primary_interface::PackageHeader>& 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(comm::URStream<primary_interface::PackageHeader>& 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(comm::URStream<primary_interface::PackageHeader>& 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(comm::URStream<primary_interface::PackageHeader>& 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(comm::URStream<primary_interface::PackageHeader>& stream) : URCommander_V3_X(stream)
|
|
{
|
|
}
|
|
|
|
virtual bool speedj(std::array<double, 6>& speeds, double acceleration);
|
|
};
|
|
} // namespace ur_driver
|