philipp schoenberger
10 years ago
6 changed files with 563 additions and 36 deletions
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85lwrserv/include/BangBangTrajectory.h
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13lwrserv/include/commands.h
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45lwrserv/include/commandsHelp.h
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1lwrserv/include/lwr4.h
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97lwrserv/src/commands.cpp
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336lwrserv/src/commandsHelp.cpp
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#ifndef _COMMANDSHELP_H_ |
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#define _COMMANDSHELP_H_ |
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|
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#include "SocketObject.h" |
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#include <stdlib.h> |
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/** |
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* @addtogroup commands |
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* Additional functions for the client commands to print help and usage of them |
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* @{ |
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* @addtogroup help |
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* @{ |
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*/ |
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//Handling request for current Joint Values |
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void getPositionJointsHelp (SocketObject& client, std::string& arg); |
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//Get Position as POSE Matrix |
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void getPositionHomRowWiseHelp (SocketObject& client, std::string& arg); |
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//Get Force/torque values from TCP |
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void getForceTorqueTcpHelp (SocketObject& client, std::string& arg); |
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//Move to given Joint combination |
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void movePTPJointsHelp (SocketObject& client, std::string& arg); |
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//Move to given POSE position |
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void moveHomRowWiseStatusHelp (SocketObject& client, std::string& arg); |
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//Set Velocity |
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void setSpeedHelp (SocketObject& client, std::string& arg); |
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//Set Acceleration |
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void setAccelHelp (SocketObject& client, std::string& arg); |
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//Starting Potential Field Movement Mode |
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void startPotFieldModeHelp (SocketObject& client, std::string& arg); |
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//Stopping Potential Field Movement Mode |
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void stopPotFieldModeHelp (SocketObject& client, std::string& arg); |
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// set the current trajectory type |
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void setTrajectoryTypeHelp (SocketObject& client, std::string& arg); |
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// get the current trajectory type |
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void getTrajectoryTypeHelp (SocketObject& client, std::string& arg); |
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//Quit |
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void quitHelp (SocketObject& client, std::string& arg); |
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// check if we use a kuka |
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void isKukaLwrHelp (SocketObject& client, std::string& arg); |
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/** |
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* @} |
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* @} |
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*/ |
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#endif |
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@ -0,0 +1,336 @@ |
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/**
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* @file |
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* @author Philipp Schoenberger <ph.schoenberger@googlemail.com> |
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* @version 1.0 |
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* |
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* @section LICENSE |
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* |
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* This program is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License as |
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* published by the Free Software Foundation; either version 2 of |
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* the License, or (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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* General Public License for more details at |
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* https://www.gnu.org/copyleft/gpl.html
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* |
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* @section DESCRIPTION |
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* |
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* This file contains functions to process the commands |
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* coming from the client interface |
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*/ |
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#include <stdlib.h>
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#include <string>
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#include <iostream>
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#include "SocketObject.h"
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/**
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* This function returns the help information text to the client |
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* for the getPositionJoints function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see getPositionJoints |
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*/ |
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void getPositionJointsHelp(SocketObject& client, std::string& arg) |
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{ |
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// unused
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(void) arg; |
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|
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// set up the string buffers
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std::string out = ""; |
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// add the help text to the buffer
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out += "Request for the current joint angles from database.\n"; |
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out += "Return string is formated like: \n \t 1.0 2.0 ... 4.0 \n "; |
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// send message to client
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client.Send(out); |
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} |
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|
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/**
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* This function returns the help information text to the client |
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* for the getPositionHomRowWise function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see getPositionHomRowWise |
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*/ |
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void getPositionHomRowWiseHelp(SocketObject& client, std::string& arg) |
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{ |
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// unused
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(void) arg; |
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// set up the string buffers
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std::string out = ""; |
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// add the help text to the buffer
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out += "Request for the current positions in form of a homogeneous cartesian matrix.\n"; |
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out += "The return string is formated row wise with leaving out the last line.\n"; |
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out += "\n"; |
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out += "R11 R12 R13 Tx \n"; |
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out += "R21 R22 R23 Ty \n"; |
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out += "R31 R32 R33 Tz \n"; |
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out += "0 0 0 1 \n"; |
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out += "\n"; |
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out += "Example Matrix above will be assembled to a line like the following one\n"; |
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out += "\n"; |
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out += "R11 R12 R13 Tx R21 R22 R23 Ty R31 R32 R33 Tz\n"; |
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out += "\n"; |
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// send message to client
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client.Send(out); |
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} |
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|
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/**
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* This function returns the help information text to the client |
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* for the getForceTorqueTcp function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see getForceTorqueTcp |
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*/ |
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void getForceTorqueTcpHelp(SocketObject& client, std::string& arg) |
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{ |
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// unused
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(void) arg; |
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// set up the string buffers
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std::string out = ""; |
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// add the help text to the buffer
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out += "Request for the current force and torque of the Robot\n"; |
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out += "The first 3 Values are the x,y,z forces of the robot endefektor\n"; |
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out += "The second 3 values are the x,y,z rotational torques on the endefektor\n"; |
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out += "The returned string will be formated like this: \n"; |
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out += "\t Fx Fy Fz Tx Ty Tz\n"; |
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// send message to client
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client.Send(out); |
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} |
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/**
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* This function returns the help information text to the client |
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* for the movePTPJoints function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see movePTPJoints |
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*/ |
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void movePTPJointsHelp(SocketObject& client, std::string& arg) |
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{ |
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// unused
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(void) arg; |
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// set up the string buffers
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std::string out = ""; |
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// add the help text to the buffer
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out += "Request the server to move the robot from the current measured Position\n"; |
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out += "to the new position defined by the given parameters.\n"; |
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out += "The amount of parameters have to match exactly the number of joints of the\n"; |
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out += "Robot. Otherwise the command will return \"false\".\n"; |
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out += "Command interface is blocked after sending the command and will be up\n"; |
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out += "when the robot reached the commanded destination.\n"; |
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out += "When the movement was successfully finished the return value will be \"true\"\n"; |
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out += "The entered command should be formated like this: \n"; |
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out += "MPTP J1 J2 J3 J4 J5 J6 J7 ... \n"; |
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// send msg to client
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client.Send(out); |
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} |
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/**
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* This function returns the help information text to the client |
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* for the moveHomRowWiseStatus function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see moveHomRowWiseStatus |
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*/ |
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void moveHomRowWiseStatusHelp(SocketObject& client, std::string& arg) |
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{ |
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// unused
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(void) arg; |
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// set up the string buffers
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std::string out = ""; |
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// send message to client
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client.Send(out); |
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} |
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/**
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* This function returns the help information text to the client |
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* for the setSpeed function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see setSpeed |
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*/ |
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void setSpeedHelp(SocketObject& client, std::string& arg) |
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{ |
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// unused
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(void) arg; |
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// set up the string buffers
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std::string out = ""; |
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// send message to client
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client.Send(out); |
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} |
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|
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/**
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* This function returns the help information text to the client |
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* for the setAccel function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see setAccel |
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*/ |
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void setAccelHelp(SocketObject& client, std::string& arg) |
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{ |
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// unused
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(void) arg; |
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// set up the string buffers
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std::string out = ""; |
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// send message to client
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client.Send(out); |
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} |
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|
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/**
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* This function returns the help information text to the client |
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* for the startPotFieldMode function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see startPotFieldMode |
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*/ |
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void startPotFieldModeHelp(SocketObject& client, std::string& arg) |
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{ |
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// unused
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(void) arg; |
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// set up the string buffers
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std::string out = ""; |
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// send message to client
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client.Send(out); |
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} |
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|
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/**
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* This function returns the help information text to the client |
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* for the stopPotFieldMode function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see stopPotFieldMode |
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*/ |
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void stopPotFieldModeHelp(SocketObject& client, std::string& arg) |
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{ |
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// unused
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(void) arg; |
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// set up the string buffers
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std::string out = ""; |
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// send message to client
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client.Send(out); |
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} |
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|
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/**
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* This function returns the help information text to the client |
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* for the quit function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see quit |
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*/ |
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void quitHelp(SocketObject& client , std::string& arg) |
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{ |
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// unused
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(void) arg; |
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// set up the string buffers
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std::string out = ""; |
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// send message to client
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client.Send(out); |
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} |
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/**
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* This function returns the help information text to the client |
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* for the quit function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see quit |
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*/ |
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void setTrajectoryTypeHelp(SocketObject& client, std::string& arg) |
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{ |
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// unused
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(void) arg; |
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// set up the string buffers
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std::string out = ""; |
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// send message to client
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client.Send(out); |
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} |
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|
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/**
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* This function returns the help information text to the client |
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* for the getTrajectoryType function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see getTrajectoryType |
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*/ |
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void getTrajectoryTypeHelp(SocketObject& client, std::string& arg) |
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{ |
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// unused
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(void) arg; |
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// set up the string buffers
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std::string out = ""; |
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// send message to client
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client.Send(out); |
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} |
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/**
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* This function returns the help information text to the client |
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* for the isKukaLwr function. |
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* |
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* @param client connection to client which will receive the response |
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* @param arg unused but has to be there for matching the signature |
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* |
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* @see isKukaLwr |
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*/ |
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void isKukaLwrHelp(SocketObject& client, std::string& arg) |
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{ |
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// unused
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(void) arg; |
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// set up the string buffers
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std::string out = ""; |
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// send message to client
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client.Send(out); |
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} |
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