src/FastResearchInterfaceTest/RunTrajectorySimple.cpp

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#include <FastResearchInterface.h>
#include <Console.h>
#include <errno.h>
#include <string.h>
#include <OSAbstraction.h>
#include <FastResearchInterfaceTest.h>
#include <TypeIRML.h>

#ifndef PI
#define PI          3.1415926535897932384626433832795
#endif

#ifndef RAD
#define RAD(A)  ((A) * PI / 180.0 )
#endif

#ifndef DEG
#define DEG(A)  ((A) * 180.0 / PI )
#endif

#define NUMBER_OF_JOINTS            7

// ****************************************************************
// RunTrajectorySimple()
//
void RunTrajectorySimple(FastResearchInterface *FRI)
{
    unsigned int                i                           =   0       ;

    int                         ResultValue                 =   0       ;


    float                       JointValuesInRad[NUMBER_OF_JOINTS]      ;

    double                      CycleTime                   =   0.002   ;

    TypeIRML                    *RML                        =   NULL    ;

    TypeIRMLInputParameters     *IP                         =   NULL    ;

    TypeIRMLOutputParameters    *OP                         =   NULL    ;

    RML                 =   new TypeIRML(       NUMBER_OF_JOINTS
                                            ,   CycleTime           );

    IP                  =   new TypeIRMLInputParameters(NUMBER_OF_JOINTS);

    OP                  =   new TypeIRMLOutputParameters(NUMBER_OF_JOINTS);

    memset(JointValuesInRad                     , 0x0, NUMBER_OF_JOINTS * sizeof(float));
    
    if ((FRI->GetCurrentControlScheme() != FastResearchInterface::JOINT_POSITION_CONTROL) || (!FRI->IsMachineOK()))
    {   
        printf("Program is going to stop the robot.\n");
        FRI->StopRobot();

        FRI->GetMeasuredJointPositions(JointValuesInRad);
        FRI->SetCommandedJointPositions(JointValuesInRad);
                
        printf("Restarting the joint position control scheme.\n");
        ResultValue =   FRI->StartRobot(FastResearchInterface::JOINT_POSITION_CONTROL);
        
        if ((ResultValue != EOK) && (ResultValue != EALREADY))
        {
            printf("An error occurred during starting up the robot...\n");
            delete  RML;
            delete  IP;
            delete  OP;
            
            return; 
        }
    }
        
    printf("Moving each joint by 20 degrees...\n");
    
    FRI->GetMeasuredJointPositions(JointValuesInRad);
    
    for ( i = 0; i < NUMBER_OF_JOINTS; i++)
    {
        IP->CurrentPosition->VecData        [i] =   (double)DEG(JointValuesInRad[i]);
        IP->TargetPosition->VecData         [i] =   (double)20.0;
        IP->MaxVelocity->VecData            [i] =   (double)50.0;       
        IP->MaxAcceleration->VecData        [i] =   (double)50.0;
        IP->SelectionVector->VecData        [i] =   true;
    }
    
    ResultValue =   TypeIRML::RML_WORKING;
    
    while ((FRI->IsMachineOK()) && (ResultValue != TypeIRML::RML_FINAL_STATE_REACHED))
    {
        FRI->WaitForKRCTick();

        ResultValue =   RML->GetNextMotionState_Position(       *IP
                                                            ,   OP  );

        if ((ResultValue != TypeIRML::RML_WORKING) && (ResultValue != TypeIRML::RML_FINAL_STATE_REACHED))
        {
            printf("RunTrajectorySimple(): ERROR during trajectory generation (%d).", ResultValue);
        }
                                            
        for ( i = 0; i < NUMBER_OF_JOINTS; i++)
        {
            JointValuesInRad[i] =   RAD((double)(OP->NewPosition->VecData[i]));
        }

        FRI->SetCommandedJointPositions(JointValuesInRad);  
        
        *(IP->CurrentPosition)      =   *(OP->NewPosition);
        *(IP->CurrentVelocity)      =   *(OP->NewVelocity);
    }
    
    printf("Position reached. Moving the robot back to the candle position...\n");
    
    for ( i = 0; i < NUMBER_OF_JOINTS; i++)
    {
        IP->TargetPosition->VecData         [i] =   (double)0.0;
    }
    
    ResultValue =   TypeIRML::RML_WORKING;
    
    while ((FRI->IsMachineOK()) && (ResultValue != TypeIRML::RML_FINAL_STATE_REACHED))
    {
        FRI->WaitForKRCTick();

        ResultValue =   RML->GetNextMotionState_Position(       *IP
                                                            ,   OP  );

        if ((ResultValue != TypeIRML::RML_WORKING) && (ResultValue != TypeIRML::RML_FINAL_STATE_REACHED))
        {
            printf("RunTrajectorySimple(): ERROR during trajectory generation (%d).", ResultValue);
        }
                                            
        for ( i = 0; i < NUMBER_OF_JOINTS; i++)
        {
            JointValuesInRad[i] =   RAD((double)(OP->NewPosition->VecData[i]));
        }

        FRI->SetCommandedJointPositions(JointValuesInRad);  
        
        *(IP->CurrentPosition)      =   *(OP->NewPosition);
        *(IP->CurrentVelocity)      =   *(OP->NewVelocity);
    }

    if (!FRI->IsMachineOK())
    {
        printf("RunTrajectorySimple(): ERROR, machine is not ready.");
        
        delete  RML;
        delete  IP;
        delete  OP;
        
        return;
    }

    printf("Stopping the robot.\n");
    FRI->StopRobot();   

    delete  RML;
    delete  IP;
    delete  OP;
    
    return;
}