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<div id="projectname">KatanaNativeInterface <span id="projectnumber">$VERSION$</span></div>
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<h1>kmlBase.h</h1> </div>
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<a href="kmlBase_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Katana Native Interface - A C++ interface to the robot arm Katana.</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2005 Neuronics AG</span>
<a name="l00004"></a>00004 <span class="comment"> * Check out the AUTHORS file for detailed contact information.</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00007"></a>00007 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00008"></a>00008 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00009"></a>00009 <span class="comment"> * (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"> *</span>
<a name="l00011"></a>00011 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00018"></a>00018 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020
<a name="l00021"></a>00021
<a name="l00025"></a>00025 <span class="comment">//--------------------------------------------------------------------------//</span>
<a name="l00026"></a>00026 <span class="preprocessor">#ifndef _KMLBASE_H_</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span><span class="preprocessor">#define _KMLBASE_H_</span>
<a name="l00028"></a>00028 <span class="preprocessor"></span><span class="comment">//--------------------------------------------------------------------------//</span>
<a name="l00029"></a>00029 <span class="preprocessor">#include "common/dllexport.h"</span>
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="preprocessor">#include "KNI/cplBase.h"</span>
<a name="l00032"></a>00032 <span class="preprocessor">#include "KNI/kmlCommon.h"</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include "KNI/kmlMotBase.h"</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "KNI/kmlSctBase.h"</span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#include "KNI/cdlCOM.h"</span>
<a name="l00037"></a>00037 <span class="preprocessor">#include "KNI/cdlCOMExceptions.h"</span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="comment">//--------------------------------------------------------------------------//</span>
<a name="l00042"></a><a class="code" href="kmlBase_8h.html#a2e5defd0b3721116354fe826261dc05a">00042</a> <span class="comment"></span><span class="preprocessor">#define K400_OLD_PROTOCOL_THRESHOLD 1</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span>
<a name="l00044"></a>00044 <span class="preprocessor">#if !defined (BYTE_DECLARED)</span>
<a name="l00045"></a><a class="code" href="kmlBase_8h.html#a15703639675649efebe5b8aa49217f91">00045</a> <span class="preprocessor"></span><span class="preprocessor">#define BYTE_DECLARED</span>
<a name="l00046"></a><a class="code" href="kmlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">00046</a> <span class="preprocessor"></span><span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a>;
<a name="l00047"></a>00047 <span class="preprocessor">#endif</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>
<a name="l00049"></a>00049 <span class="comment">//--------------------------------------------------------------------------//</span>
<a name="l00050"></a>00050
<a name="l00051"></a><a class="code" href="kmlBase_8h.html#ad6ffe504357959900a023228f12b10ae">00051</a> <span class="preprocessor">#define TM_ENDLESS -1 //!< timeout symbol for 'endless' waiting</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span>
<a name="l00053"></a>00053 <span class="comment">//--------------------------------------------------------------------------//</span>
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="keyword">class </span><a class="code" href="classCKatBase.html" title="Base Katana class.">CKatBase</a>; <span class="comment">//katana</span>
<a name="l00056"></a>00056 <span class="keyword">class </span><a class="code" href="classCMotBase.html" title="Motor class.">CMotBase</a>; <span class="comment">//motor</span>
<a name="l00057"></a>00057 <span class="keyword">class </span><a class="code" href="classCSctBase.html" title="Sensor Controller class.">CSctBase</a>; <span class="comment">//sensor contoller</span>
<a name="l00058"></a>00058
<a name="l00059"></a>00059
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="comment">//--------------------------------------------------------------------------//</span>
<a name="l00062"></a>00062 <span class="comment">// CKatBase ----------------------------------------------------------------//</span>
<a name="l00063"></a>00063 <span class="comment">//--------------------------------------------------------------------------//</span>
<a name="l00064"></a>00064
<a name="l00067"></a><a class="code" href="structTKatGNL.html">00067</a> <span class="keyword">struct </span><a class="code" href="structTKatGNL.html" title="[GNL] general robot attributes">TKatGNL</a> {
<a name="l00068"></a><a class="code" href="structTKatGNL.html#a6c0d8bd8501c73e88845a697b8d4b0f3">00068</a> <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a> <a class="code" href="structTKatGNL.html#a6c0d8bd8501c73e88845a697b8d4b0f3" title="jumper adress">adr</a>;
<a name="l00069"></a><a class="code" href="structTKatGNL.html#ad49ba91dcb19b8f943d85ae7c53bf706">00069</a> <span class="keywordtype">char</span> <a class="code" href="structTKatGNL.html#ad49ba91dcb19b8f943d85ae7c53bf706" title="model name">modelName</a>[255];
<a name="l00070"></a>00070 };
<a name="l00071"></a>00071
<a name="l00074"></a><a class="code" href="structTKatMFW.html">00074</a> <span class="keyword">struct </span><a class="code" href="structTKatMFW.html" title="[MFW] master firmware version/revision number">TKatMFW</a> {
<a name="l00075"></a><a class="code" href="structTKatMFW.html#af29bcab1a55553eab067751ce13bd973">00075</a> <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a> <a class="code" href="structTKatMFW.html#af29bcab1a55553eab067751ce13bd973" title="version">ver</a>;
<a name="l00076"></a><a class="code" href="structTKatMFW.html#ade76d80b580e78b8af1872249b393635">00076</a> <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a> <a class="code" href="structTKatMFW.html#ade76d80b580e78b8af1872249b393635" title="revision">rev</a>;
<a name="l00077"></a>00077 };
<a name="l00078"></a>00078
<a name="l00081"></a><a class="code" href="structTKatIDS.html">00081</a> <span class="keyword">struct </span><a class="code" href="structTKatIDS.html" title="[IDS] identification string">TKatIDS</a> {
<a name="l00082"></a><a class="code" href="structTKatIDS.html#a1c1f84d887754cd159296c2ef71a5072">00082</a> <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a> <a class="code" href="structTKatIDS.html#a1c1f84d887754cd159296c2ef71a5072" title="id string">strID</a>[256];
<a name="l00083"></a>00083 };
<a name="l00084"></a>00084
<a name="l00087"></a><a class="code" href="structTKatCTB.html">00087</a> <span class="keyword">struct </span><a class="code" href="structTKatCTB.html" title="[CTB] command table defined in the firmware">TKatCTB</a> {
<a name="l00088"></a><a class="code" href="structTKatCTB.html#a07d9387b8571684a1812ef7fe1a73f31">00088</a> <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a> <a class="code" href="structTKatCTB.html#a07d9387b8571684a1812ef7fe1a73f31" title="command table">cmdtbl</a>[256];
<a name="l00089"></a>00089 };
<a name="l00090"></a>00090
<a name="l00093"></a><a class="code" href="structTKatCBX.html">00093</a> <span class="keyword">struct </span><a class="code" href="structTKatCBX.html" title="[CBX] connector box">TKatCBX</a> {
<a name="l00094"></a><a class="code" href="structTKatCBX.html#a8b8e892dba92a9014fc8f98444c080c2">00094</a> <span class="keywordtype">bool</span> <a class="code" href="structTKatCBX.html#a8b8e892dba92a9014fc8f98444c080c2" title="input: green &amp; red LED">inp</a>[2];
<a name="l00095"></a><a class="code" href="structTKatCBX.html#a8b68606bde4ada386cfb390b94890c7b">00095</a> <span class="keywordtype">bool</span> <a class="code" href="structTKatCBX.html#a8b68606bde4ada386cfb390b94890c7b" title="output: green &amp; red LED">out</a>[2];
<a name="l00096"></a>00096 };
<a name="l00097"></a>00097
<a name="l00100"></a><a class="code" href="structTKatECH.html">00100</a> <span class="keyword">struct </span><a class="code" href="structTKatECH.html" title="[ECH] echo">TKatECH</a> {
<a name="l00101"></a><a class="code" href="structTKatECH.html#a2b84327b404099467788fde50949d551">00101</a> <a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a> <a class="code" href="structTKatECH.html#a2b84327b404099467788fde50949d551" title="echo answer">echo</a>;
<a name="l00102"></a>00102 };
<a name="l00103"></a>00103
<a name="l00113"></a><a class="code" href="structTKatEFF.html">00113</a> <span class="keyword">struct </span><a class="code" href="structTKatEFF.html" title="Inverse Kinematics structure of the endeffektor.">TKatEFF</a> {
<a name="l00114"></a><a class="code" href="structTKatEFF.html#a04c45c9a460b81c974f372ced962fb98">00114</a> <span class="keywordtype">double</span> <a class="code" href="structTKatEFF.html#a04c45c9a460b81c974f372ced962fb98" title="length of the Katana segments">arr_segment</a>[4];
<a name="l00115"></a>00115 };
<a name="l00116"></a>00116
<a name="l00117"></a>00117
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="comment">//--------------------------------------------------------------------------//</span>
<a name="l00120"></a>00120
<a name="l00132"></a><a class="code" href="classCKatBase.html">00132</a> <span class="keyword">class </span><a class="code" href="dllexport_8h.html#af6e7daabccc187ef1005a8e9a68ecce4">DLLDIR</a> <a class="code" href="classCKatBase.html" title="Base Katana class.">CKatBase</a> {
<a name="l00133"></a>00133
<a name="l00134"></a>00134 <span class="keyword">protected</span>:
<a name="l00135"></a><a class="code" href="classCKatBase.html#ac07e59aae6f45d186b9c17cf5dd18c9c">00135</a> <a class="code" href="structTKatGNL.html" title="[GNL] general robot attributes">TKatGNL</a> <a class="code" href="classCKatBase.html#ac07e59aae6f45d186b9c17cf5dd18c9c" title="katana general">gnl</a>;
<a name="l00136"></a><a class="code" href="classCKatBase.html#a02e1e320ed6d15b011db980dbe36db9f">00136</a> <a class="code" href="structTKatMFW.html" title="[MFW] master firmware version/revision number">TKatMFW</a> <a class="code" href="classCKatBase.html#a02e1e320ed6d15b011db980dbe36db9f" title="master&#39;s firmware version/revision">mfw</a>;
<a name="l00137"></a><a class="code" href="classCKatBase.html#ac007c364aca3be184eb0b84689e37f49">00137</a> <a class="code" href="structTKatIDS.html" title="[IDS] identification string">TKatIDS</a> <a class="code" href="classCKatBase.html#ac007c364aca3be184eb0b84689e37f49" title="ID string.">ids</a>;
<a name="l00138"></a><a class="code" href="classCKatBase.html#a9595010a99623cbfde0468d80485e976">00138</a> <a class="code" href="structTKatCTB.html" title="[CTB] command table defined in the firmware">TKatCTB</a> <a class="code" href="classCKatBase.html#a9595010a99623cbfde0468d80485e976" title="cmd table">ctb</a>;
<a name="l00139"></a><a class="code" href="classCKatBase.html#a0dc353534ad2ea7131b59648888a4aa1">00139</a> <a class="code" href="structTKatCBX.html" title="[CBX] connector box">TKatCBX</a> <a class="code" href="classCKatBase.html#a0dc353534ad2ea7131b59648888a4aa1" title="connector box">cbx</a>;
<a name="l00140"></a><a class="code" href="classCKatBase.html#a808298df29ee9f42aee3947fc293d5a5">00140</a> <a class="code" href="structTKatECH.html" title="[ECH] echo">TKatECH</a> <a class="code" href="classCKatBase.html#a808298df29ee9f42aee3947fc293d5a5" title="echo">ech</a>;
<a name="l00141"></a>00141
<a name="l00142"></a><a class="code" href="classCKatBase.html#a8e0deadb88fe9da2d61efda7a7d9805a">00142</a> <a class="code" href="structTKatMOT.html" title="[MOT] every motor&#39;s attributes">TKatMOT</a> <a class="code" href="classCKatBase.html#a8e0deadb88fe9da2d61efda7a7d9805a" title="motors">mot</a>;
<a name="l00143"></a><a class="code" href="classCKatBase.html#a2a003325e068a8519605881eb5978074">00143</a> <a class="code" href="structTKatSCT.html" title="[SCT] every sens ctrl&#39;s attributes">TKatSCT</a> <a class="code" href="classCKatBase.html#a2a003325e068a8519605881eb5978074" title="sensor controllers">sct</a>;
<a name="l00144"></a><a class="code" href="classCKatBase.html#afa64b06ab51e5f961ad304ee0c5ada66">00144</a> <a class="code" href="structTKatEFF.html" title="Inverse Kinematics structure of the endeffektor.">TKatEFF</a> <a class="code" href="classCKatBase.html#afa64b06ab51e5f961ad304ee0c5ada66" title="end effector">eff</a>;
<a name="l00145"></a>00145
<a name="l00146"></a><a class="code" href="classCKatBase.html#afc5f8ed4cd2793a9b839ccbbf4e72a4a">00146</a> <a class="code" href="classCCplBase.html" title="Abstract base class for protocol definiton.">CCplBase</a>* <a class="code" href="classCKatBase.html#afc5f8ed4cd2793a9b839ccbbf4e72a4a" title="protocol interface">protocol</a>;
<a name="l00147"></a><a class="code" href="classCKatBase.html#a7eb00424ba72a2a4c508220a569825e2">00147</a> <span class="keywordtype">short</span> <a class="code" href="classCKatBase.html#a7eb00424ba72a2a4c508220a569825e2" title="master version of robot we are communicating with">mMasterVersion</a>;
<a name="l00148"></a><a class="code" href="classCKatBase.html#ad68968ee90f62ec6cf4dd81bbdeca1c6">00148</a> <span class="keywordtype">short</span> <a class="code" href="classCKatBase.html#ad68968ee90f62ec6cf4dd81bbdeca1c6" title="master firmware revision">mMasterRevision</a>;
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="keyword">public</span>: <span class="keyword">const</span> <a class="code" href="structTKatGNL.html" title="[GNL] general robot attributes">TKatGNL</a>* GetGNL() { <span class="keywordflow">return</span> &gnl; } <span class="keyword">const</span> <a class="code" href="structTKatMFW.html" title="[MFW] master firmware version/revision number">TKatMFW</a>* GetMFW() { <span class="keywordflow">return</span> &mfw; } <span class="keyword">const</span> <a class="code" href="structTKatIDS.html" title="[IDS] identification string">TKatIDS</a>* GetIDS() { <span class="keywordflow">return</span> &ids; } <span class="keyword">const</span> <a class="code" href="structTKatCTB.html" title="[CTB] command table defined in the firmware">TKatCTB</a>* GetCTB() { <span class="keywordflow">return</span> &ctb; } <span class="keyword">const</span> <a class="code" href="structTKatCBX.html" title="[CBX] connector box">TKatCBX</a>* GetCBX() { <span class="keywordflow">return</span> &cbx; } <span class="keyword">const</span> <a class="code" href="structTKatECH.html" title="[ECH] echo">TKatECH</a>* GetECH() { <span class="keywordflow">return</span> &ech; }
<a name="l00163"></a>00163 <span class="keyword">const</span> <a class="code" href="structTKatMOT.html" title="[MOT] every motor&#39;s attributes">TKatMOT</a>* GetMOT() { <span class="keywordflow">return</span> &mot; } <span class="keyword">const</span> <a class="code" href="structTKatSCT.html" title="[SCT] every sens ctrl&#39;s attributes">TKatSCT</a>* GetSCT() { <span class="keywordflow">return</span> &sct; } <a class="code" href="structTKatEFF.html" title="Inverse Kinematics structure of the endeffektor.">TKatEFF</a>* GetEFF() { <span class="keywordflow">return</span> &eff; }
<a name="l00170"></a>00170
<a name="l00171"></a>00171
<a name="l00172"></a><a class="code" href="classCKatBase.html#aa313254302494d3ba7c69cfeea7d9023">00172</a> <a class="code" href="classCKatBase.html#aa313254302494d3ba7c69cfeea7d9023">CKatBase</a>() {}
<a name="l00175"></a><a class="code" href="classCKatBase.html#ad512d6857264c7fecdefd6968814cb05">00175</a> <span class="keyword">virtual</span> <a class="code" href="classCKatBase.html#ad512d6857264c7fecdefd6968814cb05" title="destructor">~CKatBase</a>() {}
<a name="l00176"></a>00176
<a name="l00177"></a>00177 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> init(
<a name="l00178"></a>00178 <span class="keyword">const</span> <a class="code" href="structTKatGNL.html" title="[GNL] general robot attributes">TKatGNL</a> _gnl,
<a name="l00179"></a>00179 <span class="keyword">const</span> <a class="code" href="structTKatMOT.html" title="[MOT] every motor&#39;s attributes">TKatMOT</a> _mot,
<a name="l00180"></a>00180 <span class="keyword">const</span> <a class="code" href="structTKatSCT.html" title="[SCT] every sens ctrl&#39;s attributes">TKatSCT</a> _sct,
<a name="l00181"></a>00181 <span class="keyword">const</span> <a class="code" href="structTKatEFF.html" title="Inverse Kinematics structure of the endeffektor.">TKatEFF</a> _eff,
<a name="l00182"></a>00182 <a class="code" href="classCCplBase.html" title="Abstract base class for protocol definiton.">CCplBase</a>* _protocol
<a name="l00183"></a>00183 );
<a name="l00184"></a>00184 <span class="keywordtype">void</span> recvMFW(); <span class="keywordtype">void</span> recvIDS(); <span class="keywordtype">void</span> recvCTB(); <span class="keywordtype">void</span> recvGMS(); <span class="keywordtype">void</span> recvCBX(); <span class="keywordtype">void</span> recvECH(); <span class="keywordtype">void</span> recvNMP(); <span class="keywordtype">void</span> recvMPS();
<a name="l00202"></a><a class="code" href="classCKatBase.html#ab86bbbca447f63b83b88b332315cb981">00202</a> <a class="code" href="classCCplBase.html" title="Abstract base class for protocol definiton.">CCplBase</a>* <a class="code" href="classCKatBase.html#ab86bbbca447f63b83b88b332315cb981" title="get a handle of the protocol, used in CKatana">getProtocol</a>(){<span class="keywordflow">return</span> protocol;}
<a name="l00204"></a>00204 <span class="keywordtype">int</span> checkKatanaType(<span class="keywordtype">int</span> type);
<a name="l00205"></a>00205 <span class="keywordtype">void</span> sendCBX(<span class="keyword">const</span> <a class="code" href="structTKatCBX.html" title="[CBX] connector box">TKatCBX</a>* _cbx);
<a name="l00208"></a>00208 <span class="keywordtype">void</span> sendTPSP();
<a name="l00213"></a>00213
<a name="l00218"></a>00218 <span class="keywordtype">void</span> getMasterFirmware(<span class="keywordtype">short</span>* fw, <span class="keywordtype">short</span>* rev);
<a name="l00219"></a>00219 <span class="keywordtype">void</span> enableCrashLimits(); <span class="keywordtype">void</span> disableCrashLimits(); <span class="keywordtype">void</span> unBlock();
<a name="l00230"></a>00230 <span class="keywordtype">void</span> setCrashLimit(<span class="keywordtype">long</span> idx, <span class="keywordtype">int</span> limit);
<a name="l00233"></a>00233 <span class="keywordtype">void</span> setPositionCollisionLimit(<span class="keywordtype">long</span> idx, <span class="keywordtype">int</span> limit);
<a name="l00236"></a>00236 <span class="keywordtype">void</span> setSpeedCollisionLimit(<span class="keywordtype">long</span> idx, <span class="keywordtype">int</span> limit);
<a name="l00237"></a>00237
<a name="l00241"></a>00241 <span class="keywordtype">void</span> startSplineMovement(<span class="keywordtype">bool</span> exactflag, <span class="keywordtype">int</span> moreflag = 1);
<a name="l00242"></a>00242
<a name="l00245"></a>00245 <span class="keywordtype">void</span> startFourSplinesMovement(<span class="keywordtype">bool</span> exactflag);
<a name="l00246"></a>00246 <span class="keywordtype">void</span> sendSLMP(<a class="code" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d" title="type specification (8 bit)">byte</a>* p);
<a name="l00249"></a>00249 <span class="keywordtype">void</span> sendSLM(<span class="keywordtype">bool</span> exactflag);
<a name="l00252"></a>00252
<a name="l00253"></a>00253 };
<a name="l00254"></a>00254
<a name="l00255"></a>00255
<a name="l00256"></a>00256
<a name="l00257"></a>00257
<a name="l00258"></a>00258
<a name="l00259"></a>00259 <span class="comment">/****************************************************************************/</span>
<a name="l00260"></a>00260 <span class="preprocessor">#endif //_KMLBASE_H_</span>
<a name="l00261"></a>00261 <span class="preprocessor"></span><span class="comment">/****************************************************************************/</span>
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