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142 lines
3.9 KiB
142 lines
3.9 KiB
#ifndef _SVRDATA_H_
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#define _SVRDATA_H_
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#include <new>
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#include <iostream>
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#include <pthread.h>
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#include <queue>
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#include "Singleton.h"
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#include "Trajectroy.h"
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#include "friComm.h"
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#include "friremote.h"
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#include "Mat.h"
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#include "Vec.h"
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#include "Robot.h"
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class SvrData: public Singleton
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{
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private:
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/// measured units from the robot
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struct {
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/// current measured joint position in [ degree ]
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Robot::VecJoint jointPos;
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/// current measured homogeneous cartesian position
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MatCarthesian cartPos;
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/// current measured force and torque for the end effector in [ Nm ]
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VecTorque forceAndTorque;
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/// current measured Jacobian matrix for the robot
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float jacobian[FRI_CART_VEC * Robot::joints];
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} measured;
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// commanded position for the robot
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struct {
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// the last commanded position for the joint angles
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Robot::VecJoint jointPos;
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// the last commanded position for the homogeneous cartesian position
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MatCarthesian cartPos;
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} commanded;
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struct {
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Robot* robotClass;
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float currentVelocityPercentage;
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float currentAccelerationPercentage;
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} robot;
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struct {
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float sampleTimeMs;
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bool cancel;
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bool done;
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std::queue< Trajectory<Robot::joints>* > list;
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enum TrajectoryType type;
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bool potfieldmode;
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}trajectory;
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friRemote* friInst;
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pthread_mutex_t dataLock;
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/// private constructor, because the database is a singleton
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SvrData();
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static bool instanceFlag;
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static SvrData* single;
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void updateMeasurementData(
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Robot::VecJoint newJointPos,
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MatCarthesian newCartPos,
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VecTorque newForceAndTorque
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);
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public:
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~SvrData(void);
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static SvrData* getInstance();
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friRemote* getFriRemote();
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void updateMeasurement();
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int getMeasuredJacobian(float* data, size_t size);
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VecTorque getMeasuredForceTorque();
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Robot::VecJoint getMeasuredJointPos();
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MatCarthesian getMeasuredCartPos();
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Robot::VecJoint getCommandedJointPos();
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void setCommandedJointPos(Robot::VecJoint newJointPos);
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MatCarthesian getCommandedCartPos();
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void setCommandedCartPos(MatCarthesian newCartPos);
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Robot::VecJoint getMaxTorque();
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Robot::VecJoint getMaxVelocity();
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Robot::VecJoint getMaxAcceleration();
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Robot::VecJoint getMaxRange();
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Robot::VecJoint getMinRange();
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bool checkJointRange(Robot::VecJoint vectorToCheck);
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Robot::VecJoint getRobotVelocity();
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float getRobotVelocityPercentage();
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int setRobotVelocityPercentage(float newVelocityPercentage);
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Robot::VecJoint getRobotAcceleration();
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float getRobotAccelerationPercentage();
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int setRobotAccelerationPercentage(float newAccelerationPercentage);
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unsigned int getJoints();
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class Robot* getRobot();
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// trajectory functions
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float getSampleTimeMs();
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int setSampleTimeMs(float newSampleTime);
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bool getTrajectoryCancel();
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class Trajectory<Robot::joints>* popTrajectory();
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int pushTrajectory(class Trajectory<Robot::joints>* newFrajectory);
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bool cancelCurrentTrajectory();
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void trajectoryCancelDone();
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bool getTrajectoryDone();
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enum TrajectoryType getTrajectoryType();
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void setTrajectoryType(enum TrajectoryType newType);
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class Trajectory<Robot::joints>* createTrajectory(Robot::VecJoint newJointPos);
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class Trajectory<Robot::joints>* createTrajectory(MatCarthesian newJointPos);
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class Trajectory<Robot::joints>* calculateTrajectory(
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Robot::VecJoint maxJointVelocity,
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Robot::VecJoint maxJointAcceleration,
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Robot::VecJoint jointStart,
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Robot::VecJoint jointEnd
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);
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int calculateAndAddNewTrajectory(Robot::VecJoint jointEnd);
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void setTrajectoryPotfieldMode(bool newstate);
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bool getTrajectoryPotfieldMode();
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};
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#endif
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