include/LWRBaseControllerInterface.h

Go to the documentation of this file.

//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
//   For a convenient reading of this file's source code,
//   please use a tab width of four characters.
//  ----------------------------------------------------------


#ifndef __LWRBaseControllerInterface__
#define __LWRBaseControllerInterface__

#include <FastResearchInterface.h>
#include <friComm.h>
#include <OSAbstraction.h>
#include <errno.h>
#include <stdarg.h>



//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------

class LWRBaseControllerInterface
{


public:


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    LWRBaseControllerInterface(const char *InitFileName)
    {
        this->FRI           =   new FastResearchInterface(InitFileName);
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    ~LWRBaseControllerInterface(void)
    {
        delete this->FRI;
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    virtual inline int StartRobot(const float &TimeOutValueInSeconds) = 0;

//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline int StopRobot(void)
    {
        return(this->FRI->StopRobot());
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline int GetMeasuredJointPositions(float *MeasuredJointPositions)
    {
        this->FRI->GetMeasuredJointPositions(MeasuredJointPositions);

        if (this->FRI->GetFRIMode() == FRI_STATE_OFF)
        {
            return(ENOTCONN);
        }
        else
        {
            return(EOK);
        }
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline int GetMeasuredJointTorques(float *MeasuredJointTorques)
    {
        this->FRI->GetMeasuredJointTorques(MeasuredJointTorques);

        if (this->FRI->GetFRIMode() == FRI_STATE_OFF)
        {
            return(ENOTCONN);
        }
        else
        {
            return(EOK);
        }
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline int WaitForKRCTick(const unsigned int &TimeoutValueInMicroSeconds = 0)
    {
        return(this->FRI->WaitForKRCTick(TimeoutValueInMicroSeconds));
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline int WaitForTimerTick(const unsigned int &TimeoutValueInMicroSeconds = 0)
    {
        return(this->FRI->WaitForTimerTick(TimeoutValueInMicroSeconds));
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline bool IsMachineOK(void)
    {
        return(this->FRI->IsMachineOK());
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline float GetCycleTime(void)
    {
        return(this->FRI->GetFRICycleTime());
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline const char* GetCompleteRobotStateAndInformation(void)
    {
        return(FRI->GetCompleteRobotStateAndInformation());
    }

//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline int printf(const char* Format, ...)
    {
        int         Result      =   0;
        va_list     ListOfArguments;

        va_start(ListOfArguments, Format);
        Result = FRI->printf(Format, ListOfArguments);
        va_end(ListOfArguments);

        return(Result);
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline int PrepareLogging(const char *FileIdentifier = NULL)
    {
        return(FRI->PrepareLogging(FileIdentifier));
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline int StartLogging(void)
    {
        return(FRI->StartLogging());
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline int StopLogging(void)
    {
        return(FRI->StopLogging());
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline int WriteLoggingDataFile(void)
    {
        return(FRI->WriteLoggingDataFile());
    }


protected:


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    FastResearchInterface       *FRI;

};  // class LWRBaseControllerInterface

#endif