00001
00002 /***************************************************************************
00003  *  KatanaInterface.h - Fawkes BlackBoard Interface - KatanaInterface
00004  *
00005  *  Templated created:   Thu Oct 12 10:49:19 2006
00006  *  Copyright  2009  Tim Niemueller
00007  *
00008  ****************************************************************************/
00009
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023
00024 #ifndef __INTERFACES_KATANAINTERFACE_H_
00025 #define __INTERFACES_KATANAINTERFACE_H_
00026 
00027 #include <interface/interface.h>
00028 #include <interface/message.h>
00029 #include <interface/field_iterator.h>
00030
00031 namespace fawkes {
00032
00033 class KatanaInterface : public Interface
00034 {
00035  /// @cond INTERNALS
00036  INTERFACE_MGMT_FRIENDS(KatanaInterface)
00037  /// @endcond
00038  public:
00039   /* constants */
00040   static const unsigned int SENSOR_IR_RIGHT_INNER_MIDDLE;
00041   static const unsigned int SENSOR_IR_RIGHT_INNER_FRONT;
00042   static const unsigned int SENSOR_RESERVED_2;
00043   static const unsigned int SENSOR_COND_BOTH;
00044   static const unsigned int SENSOR_IR_RIGHT_OUTER_FRONT;
00045   static const unsigned int SENSOR_IR_RIGHT_BOTTOM_FRONT;
00046   static const unsigned int SENSOR_FORCE_RIGHT_REAR;
00047   static const unsigned int SENSOR_FORCE_RIGHT_FRONT;
00048   static const unsigned int SENSOR_IR_LEFT_INNER_MIDDLE;
00049   static const unsigned int SENSOR_IR_LEFT_INNER_FRONT;
00050   static const unsigned int SENSOR_RESERVED_10;
00051   static const unsigned int SENSOR_IR_CENTER_GRIPPER;
00052   static const unsigned int SENSOR_IR_LEFT_OUTER_FRONT;
00053   static const unsigned int SENSOR_IR_LEFT_BOTTOM_FRONT;
00054   static const unsigned int SENSOR_FORCE_LEFT_REAR;
00055   static const unsigned int SENSOR_FORCE_LEFT_FRONT;
00056   static const unsigned int ERROR_NONE;
00057   static const unsigned int ERROR_UNSPECIFIC;
00058   static const unsigned int ERROR_CMD_START_FAILED;
00059   static const unsigned int ERROR_NO_SOLUTION;
00060   static const unsigned int ERROR_COMMUNICATION;
00061   static const unsigned int ERROR_MOTOR_CRASHED;
00062
00063  private:
00064   /** Internal data storage, do NOT modify! */
00065   typedef struct {
00066     unsigned int msgid; /**< The ID of the message that is currently being
00067       processed, or 0 if no message is being processed. */
00068     unsigned int error_code; /**< Failure code set if
00069     final is true. 0 if no error occured, an error code from ERROR_*
00070     constants otherwise (or a bit-wise combination). */
00071     float x; /**< X-Coordinate for tool position
00072     compared to base coordinate system. */
00073     float y; /**< Y-Coordinate for tool position
00074     compared to base coordinate system. */
00075     float z; /**< Z-Coordinate for tool position
00076     compared to base coordinate system. */
00077     float phi; /**< Euler angle Phi of tool orientation. */
00078     float theta; /**< Euler angle Theta of tool orientation. */
00079     float psi; /**< Euler angle Psi of tool orientation.. */
00080     bool final; /**< True, if the last goto command has been finished,
00081       false if it is still running */
00082     bool enabled; /**< Are motors enabled? */
00083     bool calibrated; /**< Has arm been calibrated? */
00084     unsigned char sensor_value[16]; /**< Sensor
00085     values. Use SENSOR_* indexes for accessing the values. */
00086     unsigned char max_velocity; /**< Maximum velocity */
00087     unsigned char num_motors; /**< Number of motors */
00088   } KatanaInterface_data_t;
00089
00090   KatanaInterface_data_t *data;
00091
00092  public:
00093   /* messages */
00094   class StopMessage : public Message
00095   {
00096    public:
00097     StopMessage();
00098     ~StopMessage();
00099
00100     StopMessage(const StopMessage *m);
00101     /* Methods */
00102     virtual Message * clone() const;
00103   };
00104
00105   class FlushMessage : public Message
00106   {
00107    public:
00108     FlushMessage();
00109     ~FlushMessage();
00110
00111     FlushMessage(const FlushMessage *m);
00112     /* Methods */
00113     virtual Message * clone() const;
00114   };
00115
00116   class ParkMessage : public Message
00117   {
00118    public:
00119     ParkMessage();
00120     ~ParkMessage();
00121
00122     ParkMessage(const ParkMessage *m);
00123     /* Methods */
00124     virtual Message * clone() const;
00125   };
00126
00127   class LinearGotoMessage : public Message
00128   {
00129    private:
00130     /** Internal data storage, do NOT modify! */
00131     typedef struct {
00132       float x; /**< X-Coordinate for tool position
00133     compared to base coordinate system. */
00134       float y; /**< Y-Coordinate for tool position
00135     compared to base coordinate system. */
00136       float z; /**< Z-Coordinate for tool position
00137     compared to base coordinate system. */
00138       float phi; /**< Euler angle Phi of tool orientation. */
00139       float theta; /**< Euler angle Theta of tool orientation. */
00140       float psi; /**< Euler angle Psi of tool orientation.. */
00141     } LinearGotoMessage_data_t;
00142
00143     LinearGotoMessage_data_t *data;
00144
00145    public:
00146     LinearGotoMessage(const float ini_x, const float ini_y, const float ini_z, const float ini_phi, const float ini_theta, const float ini_psi);
00147     LinearGotoMessage();
00148     ~LinearGotoMessage();
00149
00150     LinearGotoMessage(const LinearGotoMessage *m);
00151     /* Methods */
00152     float x() const;
00153     void set_x(const float new_x);
00154     size_t maxlenof_x() const;
00155     float y() const;
00156     void set_y(const float new_y);
00157     size_t maxlenof_y() const;
00158     float z() const;
00159     void set_z(const float new_z);
00160     size_t maxlenof_z() const;
00161     float phi() const;
00162     void set_phi(const float new_phi);
00163     size_t maxlenof_phi() const;
00164     float theta() const;
00165     void set_theta(const float new_theta);
00166     size_t maxlenof_theta() const;
00167     float psi() const;
00168     void set_psi(const float new_psi);
00169     size_t maxlenof_psi() const;
00170     virtual Message * clone() const;
00171   };
00172
00173   class CalibrateMessage : public Message
00174   {
00175    public:
00176     CalibrateMessage();
00177     ~CalibrateMessage();
00178
00179     CalibrateMessage(const CalibrateMessage *m);
00180     /* Methods */
00181     virtual Message * clone() const;
00182   };
00183
00184   class OpenGripperMessage : public Message
00185   {
00186    public:
00187     OpenGripperMessage();
00188     ~OpenGripperMessage();
00189
00190     OpenGripperMessage(const OpenGripperMessage *m);
00191     /* Methods */
00192     virtual Message * clone() const;
00193   };
00194
00195   class CloseGripperMessage : public Message
00196   {
00197    public:
00198     CloseGripperMessage();
00199     ~CloseGripperMessage();
00200
00201     CloseGripperMessage(const CloseGripperMessage *m);
00202     /* Methods */
00203     virtual Message * clone() const;
00204   };
00205
00206   class SetEnabledMessage : public Message
00207   {
00208    private:
00209     /** Internal data storage, do NOT modify! */
00210     typedef struct {
00211       bool enabled; /**< Are motors enabled? */
00212     } SetEnabledMessage_data_t;
00213
00214     SetEnabledMessage_data_t *data;
00215
00216    public:
00217     SetEnabledMessage(const bool ini_enabled);
00218     SetEnabledMessage();
00219     ~SetEnabledMessage();
00220
00221     SetEnabledMessage(const SetEnabledMessage *m);
00222     /* Methods */
00223     bool is_enabled() const;
00224     void set_enabled(const bool new_enabled);
00225     size_t maxlenof_enabled() const;
00226     virtual Message * clone() const;
00227   };
00228
00229   class SetMaxVelocityMessage : public Message
00230   {
00231    private:
00232     /** Internal data storage, do NOT modify! */
00233     typedef struct {
00234       unsigned char max_velocity; /**< Maximum velocity */
00235     } SetMaxVelocityMessage_data_t;
00236
00237     SetMaxVelocityMessage_data_t *data;
00238
00239    public:
00240     SetMaxVelocityMessage(const unsigned char ini_max_velocity);
00241     SetMaxVelocityMessage();
00242     ~SetMaxVelocityMessage();
00243
00244     SetMaxVelocityMessage(const SetMaxVelocityMessage *m);
00245     /* Methods */
00246     unsigned char max_velocity() const;
00247     void set_max_velocity(const unsigned char new_max_velocity);
00248     size_t maxlenof_max_velocity() const;
00249     virtual Message * clone() const;
00250   };
00251
00252   virtual bool message_valid(const Message *message) const;
00253  private:
00254   KatanaInterface();
00255   ~KatanaInterface();
00256
00257  public:
00258   /* Methods */
00259   unsigned char * sensor_value() const;
00260   unsigned char sensor_value(unsigned int index) const;
00261   void set_sensor_value(unsigned int index, const unsigned char new_sensor_value);
00262   void set_sensor_value(const unsigned char * new_sensor_value);
00263   size_t maxlenof_sensor_value() const;
00264   float x() const;
00265   void set_x(const float new_x);
00266   size_t maxlenof_x() const;
00267   float y() const;
00268   void set_y(const float new_y);
00269   size_t maxlenof_y() const;
00270   float z() const;
00271   void set_z(const float new_z);
00272   size_t maxlenof_z() const;
00273   float phi() const;
00274   void set_phi(const float new_phi);
00275   size_t maxlenof_phi() const;
00276   float theta() const;
00277   void set_theta(const float new_theta);
00278   size_t maxlenof_theta() const;
00279   float psi() const;
00280   void set_psi(const float new_psi);
00281   size_t maxlenof_psi() const;
00282   unsigned int msgid() const;
00283   void set_msgid(const unsigned int new_msgid);
00284   size_t maxlenof_msgid() const;
00285   bool is_final() const;
00286   void set_final(const bool new_final);
00287   size_t maxlenof_final() const;
00288   unsigned int error_code() const;
00289   void set_error_code(const unsigned int new_error_code);
00290   size_t maxlenof_error_code() const;
00291   bool is_enabled() const;
00292   void set_enabled(const bool new_enabled);
00293   size_t maxlenof_enabled() const;
00294   bool is_calibrated() const;
00295   void set_calibrated(const bool new_calibrated);
00296   size_t maxlenof_calibrated() const;
00297   unsigned char max_velocity() const;
00298   void set_max_velocity(const unsigned char new_max_velocity);
00299   size_t maxlenof_max_velocity() const;
00300   unsigned char num_motors() const;
00301   void set_num_motors(const unsigned char new_num_motors);
00302   size_t maxlenof_num_motors() const;
00303   virtual Message * create_message(const char *type) const;
00304
00305   virtual void copy_values(const Interface *other);
00306
00307 };
00308
00309 } // end namespace fawkes
00310
00311 #endif