Provides easy access to all functionalities of Fast Research Interface of the KUKA Light-Weight Robot IV More...

#include <FastResearchInterface.h>

Public Types
enum	LWRControlModes { JOINT_POSITION_CONTROL = 10, CART_IMPEDANCE_CONTROL = 20, JOINT_IMPEDANCE_CONTROL = 30 }
	Available control schemes for the KUKA Light-Weight Robot IV. More...
Public Member Functions
	FastResearchInterface (const char *InitFileName)
	Constructor.
	~FastResearchInterface (void)
	Destructor.
int	StartRobot (const unsigned int &ControlMode, const float &TimeOutValueInSeconds=120.0)
	Starts the robot.
int	StopRobot (void)
	Stops the robot.
void	GetMeasuredJointPositions (float *MeasuredJointPositions)
	Reads the measured joint position vector from the latest data telegram of the KRC unit.
void	GetCommandedJointPositions (float *CommandedJointPositions)
	Reads the commanded joint position vector from the latest data telegram of the KRC unit.
void	GetCommandedJointPositionOffsets (float *CommandedJointPositionOffsets)
	Reads the commanded joint position offset vector from the latest data telegram of the KRC unit.
void	GetMeasuredJointTorques (float *MeasuredJointTorques)
	Reads the measured joint torque vector from the latest data telegram of the KRC unit.
void	GetEstimatedExternalJointTorques (float *EstimatedExternalJointTorques)
	Reads the estimated external joint torque vector from the latest data telegram of the KRC unit.
void	GetMeasuredCartPose (float *MeasuredCartPose)
	Reads the measured Cartesian pose frame from the latest data telegram of the KRC unit.
void	GetCommandedCartPose (float *CommandedCartPose)
	Reads the commanded Cartesian pose frame from the latest data telegram of the KRC unit.
void	GetCommandedCartPoseOffsets (float *CommandedCartPoseOffsets)
	Reads the commanded Cartesian pose offset frame from the latest data telegram of the KRC unit.
void	GetEstimatedExternalCartForcesAndTorques (float *EstimatedExternalCartForcesAndTorques)
	Reads the estimated external force and torque values w.r.t. the tool frame from the latest data telegram of the KRC unit.
void	SetCommandedJointPositions (const float *CommandedJointPositions)
	Copies the desired joint position vector into the data telegram to be send to the KRC unit.
void	SetCommandedJointTorques (const float *CommandedJointTorques)
	Copies the desired joint torque vector into the data telegram to be send to the KRC unit.
void	SetCommandedJointStiffness (const float *CommandedJointStiffness)
	Copies the desired joint stiffness vector into the data telegram to be send to the KRC unit.
void	SetCommandedJointDamping (const float *CommandedJointDamping)
	Copies the desired joint damping vector into the data telegram to be send to the KRC unit.
void	SetCommandedCartPose (const float *CommandedCartPose)
	Copies the desired Cartesian pose frame into the data telegram to be send to the KRC unit.
void	SetCommandedCartForcesAndTorques (const float *CartForcesAndTorques)
	Copies the desired Cartesian force/torque vector into the data telegram to be send to the KRC unit.
void	SetCommandedCartStiffness (const float *CommandedCartStiffness)
	Copies the desired Cartesian stiffness vector into the data telegram to be send to the KRC unit.
void	SetCommandedCartDamping (const float *CommandedCartDamping)
	Copies the desired Cartesian damping vector into the data telegram to be send to the KRC unit.
unsigned int	GetFRIMode (void)
	Returns the current mode of the Fast Research Interface Running on the KRC unit.
unsigned int	GetCurrentControlScheme (void)
	Returns the current control scheme of the Fast Research Interface Running on the KRC unit.
bool	IsRobotArmPowerOn (void)
	Returns a Boolean value indicating whether the arm power is turned on and the brakes are released (read from the latest data telegram of the KRC unit)
bool	DoesAnyDriveSignalAnError (void)
	Returns a Boolean value indicating whether any drive signals an error (read from the latest data telegram of the KRC unit)
bool	DoesAnyDriveSignalAWarning (void)
	Returns a Boolean value indicating whether any drive signals a warning (read from the latest data telegram of the KRC unit)
void	GetDriveTemperatures (float *Temperatures)
	Reads the measured drive temperatures for each drive from the latest data telegram of the KRC unit.
void	GetCurrentJacobianMatrix (float **JacobianMatrix)
	Reads current Jacobian from the latest data telegram of the KRC unit.
void	GetCurrentMassMatrix (float **MassMatrix)
	Reads current mass matrix from the latest data telegram of the KRC unit.
void	GetCurrentGravityVector (float *GravityVector)
	Reads current gravity vector from the latest data telegram of the KRC unit.
float	GetFRICycleTime (void)
	Returns the communication cycle time between the KRC unit and the remote host (read from the latest data telegram of the KRC unit)
int	GetCommunicationTimingQuality (void)
	Returns the current communication quality measured by the KRC unit (read from the latest data telegram of the KRC unit)
float	GetUDPAnswerRate (void)
	Returns the current answer rate of the remote host measured by the KRC unit (read from the latest data telegram of the KRC unit)
float	GetUDPLatencyInSeconds (void)
	Returns the current communication latency measured by the KRC unit (read from the latest data telegram of the KRC unit)
float	GetUDPJitterInSeconds (void)
	Returns the current communication jitter measured by the KRC unit (read from the latest data telegram of the KRC unit)
float	GetUDPPackageLossRate (void)
	Returns the current data package loss rate measured by the KRC unit (read from the latest data telegram of the KRC unit)
unsigned int	GetNumberOfMissedUDPPackages (void)
	Returns the number of lost data packages measured by the KRC unit (read from the latest data telegram of the KRC unit)
unsigned int	GetValueOfKRCSequenceCounter (void)
	Returns the current value of the data telegram sequence counter of the KRC unit (read from the latest data telegram of the KRC unit)
void	GetKRLBoolValues (bool *KRLBoolValues)
	Gets the current value of `$FRI_TO_BOOL[]` as set by the KRL program (read from the latest data telegram of the KRC unit)
void	GetKRLIntValues (int *KRLIntValues)
	Gets the current value of `$FRI_TO_INT[]` as set by the KRL program (read from the latest data telegram of the KRC unit)
void	GetKRLFloatValues (float *KRLFloatValues)
	Gets the current value of `$FRI_TO_REAL[]` as set by the KRL program (read from the latest data telegram of the KRC unit)
bool	GetKRLBoolValue (const unsigned int &Index)
	Returns one single element of the KRL array `$FRI_TO_BOOL[]` (read from the latest data telegram of the KRC unit)
int	GetKRLIntValue (const unsigned int &Index)
	Returns one single element of the KRL array `$FRI_TO_INT[]` (read from the latest data telegram of the KRC unit)
float	GetKRLFloatValue (const unsigned int &Index)
	Returns one single element of the KRL array `$FRI_TO_REAL[]` (read from the latest data telegram of the KRC unit)
void	SetKRLBoolValues (const bool *KRLBoolValues)
	Copies data into the data telegram to be send to the KRC unit and read by the KRL program from the array `$FRI_FRM_BOOL[]`
void	SetKRLIntValues (const int *KRLIntValues)
	Copies data into the data telegram to be send to the KRC unit and read by the KRL program from the array `$FRI_FRM_INT[]`
void	SetKRLFloatValues (const float *KRLFloatValues)
	Copies data into the data telegram to be send to the KRC unit and read by the KRL program from the array `$FRI_FRM_REAL[]`
void	SetKRLBoolValue (const unsigned int &Index, const bool &Value)
	Copies one single Boolean value into the data telegram to be send to the KRC unit and read by the KRL program from the `$FRI_FRM_BOOL[Index]`
void	SetKRLIntValue (const unsigned int &Index, const int &Value)
	Copies one single integer value into the data telegram to be send to the KRC unit and read by the KRL program from the `$FRI_FRM_INT[Index]`
void	SetKRLFloatValue (const unsigned int &Index, const float &Value)
	Copies one single floating point value into the data telegram to be send to the KRC unit and read by the KRL program from the `$FRI_FRM_REAL[Index]`
int	WaitForKRCTick (const unsigned int &TimeoutValueInMicroSeconds=0)
	Blocks the calling thread until a message from the KRC unit has been received.
int	WaitForTimerTick (const unsigned int &TimeoutValueInMicroSeconds=0)
	Blocks the calling thread until the timer thread sends a signal.
bool	IsMachineOK (void)
	Returns a Boolean value indicating whether the robot is ready for operation.
const char *	GetCompleteRobotStateAndInformation (void)
	Returns a pointer to an array of `char` values describing the complete state of the robot.
int	printf (const char *Format,...)
	A real-time wrapper for printf.
int	PrepareLogging (const char *FileIdentifier=NULL)
	Creates and prepares an output file for logging.
int	StartLogging (void)
	Starts real-time data logging.
int	StopLogging (void)
	Stops real-time data logging.
int	WriteLoggingDataFile (void)
	Writes logged data to the output file and closes the file.
Protected Types
enum	CalledLoggingMethod { PrepareLoggingCalled = 1, StartLoggingCalled = 2, StopLoggingCalled = 3, WriteLoggingDataFileCalled = 4 }
	Describes the state of the data logger. More...
Protected Member Functions
int	ReadInitFile (const char *InitFileName)
	Reads the initialization file.
int	SetControlScheme (const unsigned int &ControlScheme)
	Prepares a part of the robot start-up procedure.
Static Protected Member Functions
static void *	TimerThreadMain (void *ThreadArgument)
	Thread function for the timer thread.
static void *	KRCCommunicationThreadMain (void *ThreadArgument)
Protected Attributes
bool	TerminateTimerThread
	Used as indication for the timer thread to terminate itself.
bool	TimerFlag
	Set by the timer thread each time its timer fires.
bool	TerminateKRCCommunicationThread
	Flag to terminate the communication thread.
bool	NewDataFromKRCReceived
	Used as indication for the KRC communication thread to terminate itself.
bool	LoggingIsActive
	Used by FastResearchInterface::StartLogging() and FastResearchInterface::StopLogging()
bool	ThreadCreated
	Used during the creation of new threads to acknowledge the creating thread that the new thread is running.
CalledLoggingMethod	LoggingState
	Stores which logging methods has been called lately.
char *	RobotName
	A pointer to an array of `char` values containing the name of the robot (specified in the initialization file)
char *	LoggingPath
	A pointer to an array of `char` values containing the path of the log file (specified in the initialization file)
char *	LoggingFileName
	A pointer to an array of `char` values containing the name of the log file (specified in the initialization file)
char *	RobotStateString
	A pointer to an array of `char` values containing the description of the complete robot state.
unsigned int	CurrentControlScheme
	Contains the current control scheme.
unsigned int	NumberOfLoggingFileEntries
	Contains the maximum number of logging file entries (specified in the initialization file)
unsigned int	PriorityKRCCommunicationThread
	Contains the priority of the KRC communication thread (specified in the initialization file)
unsigned int	PriorityTimerThread
	Contains the priority of the timer thread (specified in the initialization file)
unsigned int	PriorityMainThread
	Contains the priority of the thread that called the constructor (specified in the initialization file)
unsigned int	PriorityOutputConsoleThread
	Contains the priority of the output thread (specified in the initialization file)
double	CycleTime
	Contains the cycle time in seconds (specified in the initialization file)
pthread_mutex_t	MutexForControlData
	Mutex to protect FastResearchInterface::ReadData and FastResearchInterface::CommandData.
pthread_mutex_t	MutexForCondVarForTimer
	Mutex to protect FastResearchInterface::TimerFlag.
pthread_mutex_t	MutexForLogging
	Mutex to protect FastResearchInterface::LoggingIsActive.
pthread_mutex_t	MutexForThreadCreation
	Mutex used during the creation of new threads.
pthread_cond_t	CondVarForTimer
	Condition variable used by the timer thread FastResearchInterface::TimerThreadMain() for broadcasting after the firing of its timer.
pthread_cond_t	CondVarForDataReceptionFromKRC
	Condition variable used by the KRC communication thread FastResearchInterface::KRCCommunicationThreadMain() for broadcasting after the reception of a message from the KRC unit.
pthread_cond_t	CondVarForThreadCreation
	Condition variable used during the creation of new threads.
pthread_t	KRCCommunicationThread
	POSIX thread identifier for the KRC communication thread FastResearchInterface::KRCCommunicationThreadMain()
pthread_t	TimerThread
	POSIX thread identifier for the timer thread FastResearchInterface::TimerThreadMain()
pthread_t	MainThread
	POSIX thread identifier for the thread calling the constructor FastResearchInterface::FastResearchInterface()
Console *	OutputConsole
	Pointer to a Console object used for message output through a low-priority thread.
DataLogging *	DataLogger
	Pointer to a DataLogging object used for real-time logging of low-level control data.
tFriMsrData	ReadData
	Data structure object containing a copy of a complete received data telegram from the KRC unit.
tFriCmdData	CommandData
	Data structure object containing a copy of a complete data telegram to be sent to the KRC unit.

Detailed Description

Provides easy access to all functionalities of Fast Research Interface of the KUKA Light-Weight Robot IV

This is the main class of the Fast Research Interface Library for the KUKA Light-Weight Robot IV. An object of this class provides the following functionalities:

Setting basic attributes of the interface by using the initialization file of the Fast Research Interface Library (cf. The Initialization File for the Fast Research Interface Library).
Creating a communication thread that is dedicated for all UDP communication procedures to exchange data between the KRC unit and the remote host.
Creating a timer thread that periodically send signal through a condition variable
As soon as the communication thread cyclically receives data telegrams from the KRC unit:
- Providing robot status information (e.g., temperature, arm power state, errors, warnings, etc.)
- Providing robot control data (e.g., measured joint position vector, measured joint torque vector, etc.)
- Providing shared KRL variables
- Providing communication status and quality data (e.g., jitter, latency, etc.; measured by the KRC host)
- Setting robot control data (e.g., commanded joint positions, commanded joint torques, etc.)
- Setting shared KRL variables
- Performing the start-up procedure of the robot
- Performing the shutdown procedure of the robot
- Enabling low-level real-time data logging methods
- Providing two different timer signals (KRC timer and local timer)
- A real-time capable method for console output

Users may use this class as the interface to the KRC unit if the complete functionality is required for the desired application. In order to provide a simple and easy-to-start-with interface, this class is used by (but not derived to) the classes

LWRJointPositionController for the joint position controller,
LWRCartImpedanceController for the Cartesian impedance controller, and
LWRJointImpedanceController for the joint impedance controller,

which are all derived from the class LWRBaseControllerInterface.

Attention:: Only one object of this class is supposed to be created on a remote host. Otherwise indeterministic behavior may occur.

Remarks:: For a general description of the Fast Research Interface Library, please refer to the Introduction.

See also:: LWRBaseControllerInterface; LWRJointPositionController; LWRCartImpedanceController; LWRJointImpedanceController

Definition at line 118 of file FastResearchInterface.h.

Member Enumeration Documentation

enum FastResearchInterface::CalledLoggingMethod [protected]

Describes the state of the data logger.

See also:: FastResearchInterface::PrepareLogging() (not real-time capable); FastResearchInterface::StartLogging() (real-time capable); FastResearchInterface::StopLogging() (real-time capable); FastResearchInterface::WriteLoggingDataFile() (not real-time capable)

Enumerator:

PrepareLoggingCalled
StartLoggingCalled
StopLoggingCalled
WriteLoggingDataFileCalled

Definition at line 1612 of file FastResearchInterface.h.

enum FastResearchInterface::LWRControlModes

Available control schemes for the KUKA Light-Weight Robot IV.

Depending the parameter ControlMode of the method FastResearchInterface::StartRobot(), the KRL program (cf.KRL File: FRIControl.src) sets the global variable $stiffness.strategy and calls the KRL function friStart().

Enumerator:

JOINT_POSITION_CONTROL	Joint position control.
CART_IMPEDANCE_CONTROL	Cartesian impedance control.
JOINT_IMPEDANCE_CONTROL	Joint impedance control.

Definition at line 211 of file FastResearchInterface.h.

Constructor & Destructor Documentation

FastResearchInterface::FastResearchInterface ( const char * InitFileName )

Constructor.

This constructor performs several procedures. It

initializes all class attributes,
reads all parameters of the initialization file specified by InitFileName using the method FastResearchInterface::ReadInitFile(), which further on uses an object of the class InitializationFileEntry,
sets the priority, which is specified in the initialization file to the calling thread,
creates the timer thread FastResearchInterface::TimerThreadMain() running at the priority, which is specified in the initialization file,
creates the communication thread FastResearchInterface::KRCCommunicationThreadMain() running at the priority, which is specified in the initialization file,
creates the Console object FastResearchInterface::OutputConsole, which provides the possibility of using Console::printf() in real-time parts of the object, and
creates the DataLogging object FastResearchInterface::DataLogger, which provides the possibility of logging low-level control data under real-time conditions.

In case,

the initialization file specified by InitFileName cannot be opened,
the initialization file specified by InitFileName does not contain all required parameters (cf. The Initialization File for the Fast Research Interface Library), or
one of the threads FastResearchInterface::KRCCommunicationThreadMain() or FastResearchInterface::TimerThreadMain() cannot be created successfully

the constructor lets the calling process terminate and exits with a value of EXIT_FAILURE.

Parameters:

InitFileName A pointer to an array of char values containing the path and filename of the initialization file (e.g., "/home/lwrcontrol/etc/980039-FRI-Driver.init"). For details about this file, please refer to The Initialization File for the Fast Research Interface Library.

Note:

All threads of this class, that is,

the timer thread FastResearchInterface::TimerThreadMain(),
the communication thread FastResearchInterface::KRCCommunicationThreadMain(),
the output thread of the class Console, Console::ConsoleThreadMain(), and
the calling thread

use the Fifo scheduling policy (SCHED_FIFO).

Attention:: The call of the constructor does not fulfill any real-time requirements.

Definition at line 78 of file FastResearchInterface.cpp.

FastResearchInterface::~FastResearchInterface ( void )

Destructor.

This destructor performs a set of procedures to cleanly shutdown the robot:

The communication thread FastResearchInterface::KRCCommunicationThreadMain() is terminated and joins the calling thread. If it still receives data packages from the KRC unit, it will be checked whether the robot has to be shutdown, too (cf. FastResearchInterface::StopRobot()). If the thread does not receive any UDP data telegrams anymore, a signal (SIGTERM) will be sent to the thread FastResearchInterface::KRCCommunicationThread.
The timer thread FastResearchInterface::TimerThreadMain() is terminated and joins the calling thread.
If the data logger still has data in its memory that has not been written to a log file yet, this file will be written.
The DataLogging object FastResearchInterface::DataLogger is deleted.
The Console object FastResearchInterface::OutputConsole is deleted.

Attention:: The call of the destructor does not fulfill any real-time requirements.

Definition at line 262 of file FastResearchInterface.cpp.

Member Function Documentation

bool FastResearchInterface::DoesAnyDriveSignalAnError ( void )

Returns a Boolean value indicating whether any drive signals an error (read from the latest data telegram of the KRC unit)

Returns:

true if one are more drives signal an error
false otherwise

See also:: friComm.h; tFriMsrData

Definition at line 122 of file GetRobotStatusData.cpp.

bool FastResearchInterface::DoesAnyDriveSignalAWarning ( void )

Returns a Boolean value indicating whether any drive signals a warning (read from the latest data telegram of the KRC unit)

Returns:

true if one are more drives signal a warning
false otherwise

See also:: friComm.h; tFriMsrData

Definition at line 137 of file GetRobotStatusData.cpp.

void FastResearchInterface::GetCommandedCartPose ( float * CommandedCartPose )

Reads the commanded Cartesian pose frame from the latest data telegram of the KRC unit.

Parameters:

CommandedCartPose A pointer to an array of float values; the array has to have at least a size of twelve elements. The commanded Cartesian pose frame is written into this array.

See also:: tFriMsrData

Definition at line 173 of file GetRobotControlData.cpp.

void FastResearchInterface::GetCommandedCartPoseOffsets ( float * CommandedCartPoseOffsets )

Reads the commanded Cartesian pose offset frame from the latest data telegram of the KRC unit.

Parameters:

CommandedCartPoseOffsets A pointer to an array of float values; the array has to have at least a size of twelve elements. The commanded Cartesian pose offset frame is written into this array.

See also:: tFriMsrData

Definition at line 191 of file GetRobotControlData.cpp.

void FastResearchInterface::GetCommandedJointPositionOffsets ( float * CommandedJointPositionOffsets )

Reads the commanded joint position offset vector from the latest data telegram of the KRC unit.

Parameters:

CommandedJointPositionOffsets A pointer to an array of float values; the array has to have at least a size of seven elements. The commanded joint position offset is written into this array.

See also:: tFriMsrData

Definition at line 101 of file GetRobotControlData.cpp.

void FastResearchInterface::GetCommandedJointPositions ( float * CommandedJointPositions )

Reads the commanded joint position vector from the latest data telegram of the KRC unit.

Parameters:

CommandedJointPositions A pointer to an array of float values; the array has to have at least a size of seven elements. The commanded joint position vector is written into this array.

See also:: tFriMsrData

Definition at line 83 of file GetRobotControlData.cpp.

int FastResearchInterface::GetCommunicationTimingQuality ( void )

Returns the current communication quality measured by the KRC unit (read from the latest data telegram of the KRC unit)

Returns:

FRI_QUALITY_UNACCEPTABLE
FRI_QUALITY_BAD
FRI_QUALITY_OK
FRI_QUALITY_PERFECT

See also:: friComm.h; tFriMsrData

Definition at line 80 of file GetUDPCommunicationData.cpp.

const char * FastResearchInterface::GetCompleteRobotStateAndInformation ( void )

Returns a pointer to an array of char values describing the complete state of the robot.

This method summarizes the all available robot information in a simple C-string.

Returns:: A pointer to an array of char values describing the complete state of the robot

See also:: tFriMsrData; GetCompleteRobotStateAndInformation.cpp

Definition at line 73 of file GetCompleteRobotStateAndInformation.cpp.

unsigned int FastResearchInterface::GetCurrentControlScheme ( void )

Returns the current control scheme of the Fast Research Interface Running on the KRC unit.

(read from the latest data telegram of the KRC unit)

Returns:

FastResearchInterface::JOINT_POSITION_CONTROL if the joint position controller is currently active
FastResearchInterface::CART_IMPEDANCE_CONTROL if the Cartesian impedance controller is currently active
FastResearchInterface::JOINT_IMPEDANCE_CONTROL if the joint impedance controller is currently active

See also:: friComm.h; tFriMsrData

Definition at line 79 of file GetRobotStatusData.cpp.

void FastResearchInterface::GetCurrentGravityVector ( float * GravityVector )

Reads current gravity vector from the latest data telegram of the KRC unit.

Parameters:

GravityVector A pointer to an two-dimensional array of float values the array has to have at least a size of 49 elements. The current gravity vector is written into this array.

Warning:: This method has never been tested.

Todo:: Test this method!

See also:: tFriMsrData

Definition at line 314 of file GetRobotStatusData.cpp.

void FastResearchInterface::GetCurrentJacobianMatrix ( float ** JacobianMatrix )

Reads current Jacobian from the latest data telegram of the KRC unit.

Parameters:

JacobianMatrix A pointer to an two-dimensional array of float values the array has to have at least a size of 42 elements. The current Jacobian matrix is written into this array.

Warning:: This method has never been tested.

Todo:: Test this method!

See also:: tFriMsrData

Definition at line 269 of file GetRobotStatusData.cpp.

void FastResearchInterface::GetCurrentMassMatrix ( float ** MassMatrix )

Reads current mass matrix from the latest data telegram of the KRC unit.

Parameters:

MassMatrix A pointer to an two-dimensional array of float values the array has to have at least a size of 49 elements. The current mass matrix is written into this array.

Warning:: This method has never been tested.

Todo:: Test this method!

See also:: tFriMsrData

Definition at line 292 of file GetRobotStatusData.cpp.

void FastResearchInterface::GetDriveTemperatures ( float * Temperatures )

Reads the measured drive temperatures for each drive from the latest data telegram of the KRC unit.

Parameters:

Temperatures A pointer to an array of float values; the array has to have at least a size of seven elements. The measured drive temperatures for each drive is written into this array.

See also:: tFriMsrData

Definition at line 152 of file GetRobotStatusData.cpp.

void FastResearchInterface::GetEstimatedExternalCartForcesAndTorques ( float * EstimatedExternalCartForcesAndTorques )

Reads the estimated external force and torque values w.r.t. the tool frame from the latest data telegram of the KRC unit.

Parameters:

EstimatedExternalCartForcesAndTorques A pointer to an array of float values; the array has to have at least a size of six elements. The estimated external force and torque values are written into this array.

See also:: tFriMsrData

Definition at line 209 of file GetRobotControlData.cpp.

void FastResearchInterface::GetEstimatedExternalJointTorques ( float * EstimatedExternalJointTorques )

Reads the estimated external joint torque vector from the latest data telegram of the KRC unit.

Parameters:

EstimatedExternalJointTorques A pointer to an array of float values; the array has to have at least a size of seven elements. The estimated external joint torque vector is written into this array.

See also:: tFriMsrData

Definition at line 137 of file GetRobotControlData.cpp.

float FastResearchInterface::GetFRICycleTime ( void )

Returns the communication cycle time between the KRC unit and the remote host (read from the latest data telegram of the KRC unit)

Returns:: Communication cycle time in seconds.

See also:: tFriMsrData

Definition at line 65 of file GetUDPCommunicationData.cpp.

unsigned int FastResearchInterface::GetFRIMode ( void )

Returns the current mode of the Fast Research Interface Running on the KRC unit.

(read from the latest data telegram of the KRC unit)

Returns:

FRI_STATE_OFF off (i.e., no UDP connection has been established yet)
FRI_STATE_MON monitor mode
FRI_STATE_CMD command mode

See also:: friComm.h; tFriMsrData

Definition at line 65 of file GetRobotStatusData.cpp.

bool FastResearchInterface::GetKRLBoolValue ( const unsigned int & Index )

Returns one single element of the KRL array $FRI_TO_BOOL[] (read from the latest data telegram of the KRC unit)

Parameters:

Index The index of the desired Boolean value; this value has to be in range 0f 0,...,15

Returns:: The desired bool value at Index

Warning:: This method has never been tested.

Todo:: Test this method!

See also:: tFriMsrData; FastResearchInterface::GetKRLBoolValues(); KRL Source Files

Definition at line 224 of file GetRobotStatusData.cpp.

void FastResearchInterface::GetKRLBoolValues ( bool * KRLBoolValues )

Gets the current value of $FRI_TO_BOOL[] as set by the KRL program (read from the latest data telegram of the KRC unit)

Parameters:

KRLBoolValues A pointer to an array of bool values; the array has to have at least a size of 16 elements. The Boolean values set by the KRL program running on the KRC unit are copied into this array.

Warning:: This method has never been tested.

Todo:: Test this method!

See also:: tFriMsrData; FastResearchInterface::GetKRLBoolValue(); FastResearchInterface::SetKRLBoolValues(); KRL Source Files

Definition at line 170 of file GetRobotStatusData.cpp.

bool FastResearchInterface::GetKRLFloatValue ( const unsigned int & Index )

Returns one single element of the KRL array $FRI_TO_REAL[] (read from the latest data telegram of the KRC unit)

Parameters:

Index The index of the desired floating point value; this value has to be in range 0f 0,...,15

Returns:: The desired float value at Index

See also:: tFriMsrData; FastResearchInterface::GetKRLFloatValues(); KRL Source Files

Definition at line 254 of file GetRobotStatusData.cpp.

void FastResearchInterface::GetKRLFloatValues ( float * KRLFloatValues )

Gets the current value of $FRI_TO_REAL[] as set by the KRL program (read from the latest data telegram of the KRC unit)

Parameters:

KRLFloatValues A pointer to an array of float values; the array has to have at least a size of 16 elements. The floating point values set by the KRL program running on the KRC unit are copied into this array.

See also:: tFriMsrData; FastResearchInterface::GetKRLFloatValue(); FastResearchInterface::SetKRLFloatValues(); KRL Source Files

Definition at line 206 of file GetRobotStatusData.cpp.

bool FastResearchInterface::GetKRLIntValue ( const unsigned int & Index )

Returns one single element of the KRL array $FRI_TO_INT[] (read from the latest data telegram of the KRC unit)

Parameters:

Index The index of the desired integer value; this value has to be in range 0f 0,...,15

Returns:: The desired int value at Index

See also:: tFriMsrData; FastResearchInterface::GetKRLIntValues(); KRL Source Files

Definition at line 239 of file GetRobotStatusData.cpp.

void FastResearchInterface::GetKRLIntValues ( int * KRLIntValues )

Gets the current value of $FRI_TO_INT[] as set by the KRL program (read from the latest data telegram of the KRC unit)

Parameters:

KRLIntValues A pointer to an array of int values; the array has to have at least a size of 16 elements. The integer values set by the KRL program running on the KRC unit are copied into this array.

See also:: tFriMsrData; FastResearchInterface::GetKRLIntValue(); FastResearchInterface::SetKRLIntValues(); KRL Source Files

Definition at line 188 of file GetRobotStatusData.cpp.

void FastResearchInterface::GetMeasuredCartPose ( float * MeasuredCartPose )

Reads the measured Cartesian pose frame from the latest data telegram of the KRC unit.

Parameters:

MeasuredCartPose A pointer to an array of float values; the array has to have at least a size of twelve elements. The measured Cartesian pose frame is written into this array.

See also:: tFriMsrData

Definition at line 155 of file GetRobotControlData.cpp.

void FastResearchInterface::GetMeasuredJointPositions ( float * MeasuredJointPositions )

Reads the measured joint position vector from the latest data telegram of the KRC unit.

Parameters:

MeasuredJointPositions A pointer to an array of float values; the array has to have at least a size of seven elements. The measured joint position vector is written into this array.

See also:: tFriMsrData

Definition at line 65 of file GetRobotControlData.cpp.

void FastResearchInterface::GetMeasuredJointTorques ( float * MeasuredJointTorques )

Reads the measured joint torque vector from the latest data telegram of the KRC unit.

Parameters:

MeasuredJointTorques A pointer to an array of float values; the array has to have at least a size of seven elements. The measured joint torque vector is written into this array.

See also:: tFriMsrData

Definition at line 119 of file GetRobotControlData.cpp.

unsigned int FastResearchInterface::GetNumberOfMissedUDPPackages ( void )

Returns the number of lost data packages measured by the KRC unit (read from the latest data telegram of the KRC unit)

Returns:: Number of lost data packages

See also:: tFriMsrData

Definition at line 155 of file GetUDPCommunicationData.cpp.

float FastResearchInterface::GetUDPAnswerRate ( void )

Returns the current answer rate of the remote host measured by the KRC unit (read from the latest data telegram of the KRC unit)

Returns:: Answer rate

See also:: tFriMsrData

Definition at line 95 of file GetUDPCommunicationData.cpp.

float FastResearchInterface::GetUDPJitterInSeconds ( void )

Returns the current communication jitter measured by the KRC unit (read from the latest data telegram of the KRC unit)

Returns:: Current communication jitter in seconds

See also:: tFriMsrData

Definition at line 125 of file GetUDPCommunicationData.cpp.

float FastResearchInterface::GetUDPLatencyInSeconds ( void )

Returns the current communication latency measured by the KRC unit (read from the latest data telegram of the KRC unit)

Returns:: Current communication latency in seconds

See also:: tFriMsrData

Definition at line 110 of file GetUDPCommunicationData.cpp.

float FastResearchInterface::GetUDPPackageLossRate ( void )

Returns the current data package loss rate measured by the KRC unit (read from the latest data telegram of the KRC unit)

Returns:: Current data package loss rate

See also:: tFriMsrData

Definition at line 140 of file GetUDPCommunicationData.cpp.

unsigned int FastResearchInterface::GetValueOfKRCSequenceCounter ( void )

Returns the current value of the data telegram sequence counter of the KRC unit (read from the latest data telegram of the KRC unit)

Note:: This value may be affected by overflows, if the system runs for more than 49 days without interruption.

Returns:: Current value of the data telegram sequence counter

See also:: tFriMsrData

Definition at line 170 of file GetUDPCommunicationData.cpp.

bool FastResearchInterface::IsMachineOK ( void )

Returns a Boolean value indicating whether the robot is ready for operation.

This method will return true if the following three conditions are fulfilled:

the KRC unit is Command Mode,
the robot arm is powered on and the brakes are released, and
none of the drives signals an error.

Returns:

true if the machine is ready for operation
false otherwise

See also:: FastResearchInterface::GetFRIMode(); FastResearchInterface::IsRobotArmPowerOn(); FastResearchInterface::DoesAnyDriveSignalAnError()

Definition at line 332 of file GetRobotStatusData.cpp.

bool FastResearchInterface::IsRobotArmPowerOn ( void )

Returns a Boolean value indicating whether the arm power is turned on and the brakes are released (read from the latest data telegram of the KRC unit)

Returns:

true if the arm power is on and the brakes are released
false if the arm power is off and the brakes are engaged

See also:: friComm.h; tFriMsrData

Definition at line 107 of file GetRobotStatusData.cpp.

void * FastResearchInterface::KRCCommunicationThreadMain ( void * ThreadArgument ) [static, protected]

Definition at line 76 of file KRCCommunicationThreadMain.cpp.

int FastResearchInterface::PrepareLogging ( const char * FileIdentifier = NULL )

Creates and prepares an output file for logging.

Depending on the controller (cf. FastResearchInterface::CurrentControlScheme) that has been selected during the call of FastResearchInterface::StartRobot(), the method DataLogging::PrepareLogging() is called by this function.

Within the class FastResearchInterface, the data logging methods are supposed to be used in the following order:

This method (not real-time capable)
FastResearchInterface::StartLogging() (real-time capable)
FastResearchInterface::StopLogging() (real-time capable)
FastResearchInterface::WriteLoggingDataFile() (not real-time capable)

After this method has been successfully called, the real-time capable method FastResearchInterface::StartLogging() may be called at any time to start the actual data logging.

Parameters:

FileIdentifier A pointer to an array of char values containing a string to identify the written log file. This parameter is optional.

Returns:

EINVAL if a former logging file has not been closed (i.e., if FastResearchInterface::PrepareLogging() was called without a succeeding call of FastResearchInterface::WriteLoggingDataFile().
EBADF if the file could not be created.
EOK if no error occurred.

Attention:: The call of this method does not fulfill any real-time requirements.

Remarks:: Please refer to the class DataLogging for more details on real-time data logging for the KUKA Light-Weight-Robot.

See also:: DataLogging::PrepareLogging()

Definition at line 65 of file LoggingMethods.cpp.

int FastResearchInterface::printf	(	const char *	Format,
			...
	)

A real-time wrapper for printf.

This is the main method of the class Console; it may be called by real-time threads of the process to which this object belongs. It copies the formated character string to one part of the double buffer and uses the condition variable Console::CondVar to wake up the low-priority thread Console::ConsoleThreadMain(), which can work on the actual output as soon as it becomes scheduled.

Parameters:

Format	Formats the string to be sent to Console::Handler. For details please refer for example to this page: http://www.qnx.com/developers/docs/6.3.2/neutrino/lib_ref/p/printf.html.
...	A variable argument list is used here. For details, please refer to `stdarg.h` and http://www.qnx.com/developers/docs/6.3.2/neutrino/lib_ref/p/printf.html.

Returns:

The number characters sent to the file handler Console::Handler.
If the capacity of the double buffer is exceeded, ENOBUFS is returned, and a corresponding string is written to the output in order to acknowledge the user.

Definition at line 358 of file FastResearchInterface.cpp.

int FastResearchInterface::ReadInitFile ( const char * InitFileName ) [protected]

Reads the initialization file.

Parameters:

InitFileName A pointer to an array of char containing the name of the file that provides the desired initialization values/parameters.

Returns:

The number of read parameter
-1 if the file specified by InitFileName could not be opened

See also:: InitializationFileEntry

Definition at line 67 of file ReadInitFile.cpp.

void FastResearchInterface::SetCommandedCartDamping ( const float * CommandedCartDamping )

Copies the desired Cartesian damping vector into the data telegram to be send to the KRC unit.

Parameters:

CommandedCartDamping A pointer to an array of float values; the array has to have at least a size of six elements. The desired Cartesian damping vector is copied from this array.

Note:: This value will only be relevant if the Cartesian impedance controller is active.

See also:: tFriCmdData

Definition at line 191 of file SetRobotControlData.cpp.

void FastResearchInterface::SetCommandedCartForcesAndTorques ( const float * CartForcesAndTorques )

Copies the desired Cartesian force/torque vector into the data telegram to be send to the KRC unit.

Parameters:

CartForcesAndTorques A pointer to an array of float values; the array has to have at least a size of six elements. The desired Cartesian force/torque vector is copied from this array.

Note:: This value will only be relevant if the Cartesian impedance controller is active.

See also:: tFriCmdData

Definition at line 155 of file SetRobotControlData.cpp.

void FastResearchInterface::SetCommandedCartPose ( const float * CommandedCartPose )

Copies the desired Cartesian pose frame into the data telegram to be send to the KRC unit.

Parameters:

CommandedCartPose A pointer to an array of float values; the array has to have at least a size of twelve elements. The desired Cartesian pose frame is copied from this array.

Note:: This value will only be relevant if the Cartesian impedance controller is active.

See also:: tFriCmdData

Definition at line 137 of file SetRobotControlData.cpp.

void FastResearchInterface::SetCommandedCartStiffness ( const float * CommandedCartStiffness )

Copies the desired Cartesian stiffness vector into the data telegram to be send to the KRC unit.

Parameters:

CommandedCartStiffness A pointer to an array of float values; the array has to have at least a size of six elements. The desired Cartesian stiffness vector is copied from this array.

Note:: This value will only be relevant if the Cartesian impedance controller is active.

See also:: tFriCmdData

Definition at line 173 of file SetRobotControlData.cpp.

void FastResearchInterface::SetCommandedJointDamping ( const float * CommandedJointDamping )

Copies the desired joint damping vector into the data telegram to be send to the KRC unit.

Parameters:

CommandedJointDamping A pointer to an array of float values; the array has to have at least a size of seven elements. The desired joint damping vector is copied from this array.

Note:: This value will only be relevant if the joint impedance controller is active.

See also:: tFriCmdData

Definition at line 119 of file SetRobotControlData.cpp.

void FastResearchInterface::SetCommandedJointPositions ( const float * CommandedJointPositions )

Copies the desired joint position vector into the data telegram to be send to the KRC unit.

Parameters:

CommandedJointPositions A pointer to an array of float values; the array has to have at least a size of seven elements. The desired joint position vector (given in radians) is copied from this array.

Note:: This value will only be relevant if the joint position or the joint impedance controller is active.

See also:: tFriCmdData

Definition at line 65 of file SetRobotControlData.cpp.

void FastResearchInterface::SetCommandedJointStiffness ( const float * CommandedJointStiffness )

Copies the desired joint stiffness vector into the data telegram to be send to the KRC unit.

Parameters:

CommandedJointStiffness A pointer to an array of float values; the array has to have at least a size of seven elements. The desired joint stiffness vector is copied from this array.

Note:: This value will only be relevant if the joint impedance controller is active.

See also:: tFriCmdData

Definition at line 101 of file SetRobotControlData.cpp.

void FastResearchInterface::SetCommandedJointTorques ( const float * CommandedJointTorques )

Copies the desired joint torque vector into the data telegram to be send to the KRC unit.

Parameters:

CommandedJointTorques A pointer to an array of float values; the array has to have at least a size of seven elements. The desired joint torque vector (given in Nm) is copied from this array.

Note:: This value will only be relevant if the joint impedance or the joint torque controller is active.

See also:: tFriCmdData

Definition at line 83 of file SetRobotControlData.cpp.

int FastResearchInterface::SetControlScheme ( const unsigned int & ControlScheme ) [protected]

Prepares a part of the robot start-up procedure.

This method encapsulates a part of the method FastResearchInterface::StartRobot(). It sets controller flags of tFriCmdData and sets up the shared KRL variables used for intercommunication of the Fast Research Library and the KRL program FRIControl (cf.KRL File: FRIControl.src).

Parameters:

ControlScheme

Either value of the enumeration FastResearchInterface::LWRControlModes:

FastResearchInterface::JOINT_POSITION_CONTROL for joint position control
FastResearchInterface::CART_IMPEDANCE_CONTROL for Cartesian impedance control
FastResearchInterface::JOINT_IMPEDANCE_CONTROL for joint impedance control

Returns:

EINVAL if the value is not an element of LWRControlModes.
ENOTCONN if no connection between the remote host and the KRC unit is available,
or if the KRC unit does not answer anymore (e.g., due to a manual call of firClose().
EBUSY if the KRC unit is already in Command Mode.
EOK if no error occurred.

See also:: FastResearchInterface::StartRobot(); tFriCmdData

Definition at line 67 of file SetControlScheme.cpp.

void FastResearchInterface::SetKRLBoolValue	(	const unsigned int &	Index,
		const bool &	Value
	)

Copies one single Boolean value into the data telegram to be send to the KRC unit and read by the KRL program from the $FRI_FRM_BOOL[Index]

Parameters:

Index	The index of the commanded Boolean value in the KRL array `$FRI_FRM_BOOL[]`; this value has to be in range 0f `0,...,15`
Value	The value to be copied into the data telegram and to read by the KRL program as `$FRI_FRM_BOOL[Index]`.

Warning:: This method has never been tested.

Todo:: Test this method!

See also:: tFriCmdData; FastResearchInterface::SetKRLBoolValues(); FastResearchInterface::GetKRLBoolValue(); KRL Source Files

Definition at line 126 of file SetRobotStatusData.cpp.

void FastResearchInterface::SetKRLBoolValues ( const bool * KRLBoolValues )

Copies data into the data telegram to be send to the KRC unit and read by the KRL program from the array $FRI_FRM_BOOL[]

Parameters:

KRLBoolValues A pointer to an array of bool values; the array has to have at least a size of 16 elements. The Boolean values are copied into the data telegram.

Warning:: This method has never been tested.

Todo:: Test this method!

See also:: tFriCmdData; FastResearchInterface::SetKRLBoolValue(); FastResearchInterface::GetKRLBoolValues(); KRL Source Files

Definition at line 65 of file SetRobotStatusData.cpp.

void FastResearchInterface::SetKRLFloatValue	(	const unsigned int &	Index,
		const float &	Value
	)

Copies one single floating point value into the data telegram to be send to the KRC unit and read by the KRL program from the $FRI_FRM_REAL[Index]

Parameters:

Index	The index of the commanded floating point value in the KRL array `$FRI_FRM_REAL[]`; this value has to be in range 0f `0,...,15`
Value	The value to be copied into the data telegram and to read by the KRL program as `$FRI_FRM_REAL[Index]`.

See also:: tFriCmdData; FastResearchInterface::SetKRLFloatValues(); FastResearchInterface::GetKRLFloatValue(); KRL Source Files

Definition at line 159 of file SetRobotStatusData.cpp.

void FastResearchInterface::SetKRLFloatValues ( const float * KRLFloatValues )

Copies data into the data telegram to be send to the KRC unit and read by the KRL program from the array $FRI_FRM_REAL[]

Parameters:

KRLFloatValues A pointer to an array of float values; the array has to have at least a size of 16 elements. The floating point values are copied into the data telegram.

See also:: tFriCmdData; FastResearchInterface::SetKRLFloatValue(); FastResearchInterface::GetKRLFloatValues(); KRL Source Files

Definition at line 108 of file SetRobotStatusData.cpp.

void FastResearchInterface::SetKRLIntValue	(	const unsigned int &	Index,
		const int &	Value
	)

Copies one single integer value into the data telegram to be send to the KRC unit and read by the KRL program from the $FRI_FRM_INT[Index]

Parameters:

Index	The index of the commanded integer value in the KRL array `$FRI_FRM_INT[]`; this value has to be in range 0f `0,...,15`
Value	The value to be copied into the data telegram and to read by the KRL program as `$FRI_FRM_INT[Index]`.

See also:: tFriCmdData; FastResearchInterface::SetKRLIntValues(); FastResearchInterface::GetKRLIntValue(); KRL Source Files

Definition at line 146 of file SetRobotStatusData.cpp.

void FastResearchInterface::SetKRLIntValues ( const int * KRLIntValues )

Copies data into the data telegram to be send to the KRC unit and read by the KRL program from the array $FRI_FRM_INT[]

Parameters:

KRLIntValues A pointer to an array of int values; the array has to have at least a size of 16 elements. The integer values are copied into the data telegram.

See also:: tFriCmdData; FastResearchInterface::SetKRLIntValue(); FastResearchInterface::GetKRLIntValues(); KRL Source Files

Definition at line 90 of file SetRobotStatusData.cpp.

int FastResearchInterface::StartLogging ( void )

Starts real-time data logging.

A call of this method sets the flag FastResearchInterface::LoggingIsActive, which lets the communication thread FastResearchInterface::KRCCommunicationThreadMain() write all relevant control data into heap memory. After calling FastResearchInterface::StopLogging(), FastResearchInterface::WriteLoggingDataFile() can be called, which finally writes all logged data into a file.

This method can only be called if FastResearchInterface::PrepareLogging() was called beforehand.

Within the class FastResearchInterface, the data logging methods are supposed to be used in the following order:

FastResearchInterface::PrepareLogging() (not real-time capable)
This method (real-time capable)
FastResearchInterface::StopLogging() (real-time capable)
FastResearchInterface::WriteLoggingDataFile() (not real-time capable)

Returns:

EINVAL if the method FastResearchInterface::PrepareLogging() has not been called beforehand.
EOK otherwise.

Remarks:: Please refer to the class DataLogging for more details on real-time data logging for the KUKA Light-Weight-Robot.

See also:: FastResearchInterface::StopLogging()

Definition at line 83 of file LoggingMethods.cpp.

int FastResearchInterface::StartRobot	(	const unsigned int &	ControlMode,
		const float &	TimeOutValueInSeconds = `120.0`
	)

Starts the robot.

This method performs a complete start-up procedure of the robot arm. The following steps are executed:

Before the KRL program FRIControl (cf.KRL File: FRIControl.src) is started by the user, the constructor FastResearchInterface::FastResearchInterface::() should be called in order to prevent any loss of UDP packages.
If the KRC unit is not already in Monitor Mode (i.e., no communication between the remote host and the KRC unit is performed), the method waits for the call of the KRL function friOpen() to receive UDP messages in order to let the KRC unit switch to Monitor Mode.
Once, the KRC unit runs in Monitor Mode, the method sets the KRL variable $FRI_FRM_INT[16] to a value of 10, which lets the KRL program FRIControl call the function friStart() in order to switch from Monitor Mode to Command Mode.
In the transition phase, the following command variables are sent from the remote host to the KRC unit (see also: FastResearchInterface::SetControlScheme()):
- Joint position control
  - Desired joint position vector = Current joint position vector
- Cartesian impedance control
  - Desired Cartesian pose frame = Last commanded Cartesian pose frame
  - Desired Cartesian pose offset frame = Identity frame
  - Desired additional force/torque vector = Zero vector
  - The desired Cartesian stiffness and damping values remain unchanged and may be specified by the user by using the methods FastResearchInterface::SetCommandedCartStiffness() and FastResearchInterface::SetCommandedCartDamping(), if required.
- Joint impedance control
  - Desired joint position vector = Current joint position vector
  - Desired joint position offset vector = Zero vector
  - Desired additional joint torque vector = Zero vector
  - The desired joint stiffness and damping values remain unchanged and may be specified by the user by using the methods FastResearchInterface::SetCommandedJointStiffness() and FastResearchInterface::SetCommandedJointDamping(), if required.
- Joint torque control:
  - Desired joint torque vector = Zero vector
After the KRC unit switched to Command Mode, the method waits until the robot is ready for operation, that is, until the result value of FastResearchInterface::IsMachineOK() is true.

The complete start-up procedure must not take longer than TimeOutValueInSeconds seconds. If completed successfully, the robot arm is ready for operation. This method should be used pairwise with the method FastResearchInterface::StopRobot() in order to ensure a safe and error-free operation.

Parameters:

ControlMode

Either value of the enumeration FastResearchInterface::LWRControlModes:

FastResearchInterface::JOINT_POSITION_CONTROL for joint position control
FastResearchInterface::CART_IMPEDANCE_CONTROL for Cartesian impedance control
FastResearchInterface::JOINT_IMPEDANCE_CONTROL for joint impedance control

If this method is called by an object derived from the class LWRBaseControllerInterface, this parameter is automatically set by their respective method for starting the robot.

TimeOutValueInSeconds Timeout value in seconds for the user to turn on the robot arm by using the KUKA Control Panel. The default value of this optional parameter is 120 seconds.

Returns:

ENOTCONN if no connection between the remote host and the KRC unit could be established. Please check
- whether the KRC unit is turned on and the Ethernet cable (e.g., a crossed cable) is plugged in on both nodes,
- whether the KRL program FRIControl (cf.KRL File: FRIControl.src) has been started, or
- whether the KRC node is configured correctly in particular w.r.t. the network settings (cf. Introduction).
EALREADY if the KRC unit is already in command mode, that is, the KRL function friStart() was already called by a previous call of FastResearchInterface::StartRobot(). If the robot is not ready for operation (i.e., the result of FastResearchInterface::IsMachineOK() is false), call FastResearchInterface::StopRobot() first. It might be required to check whether the KRC unit is running correctly, and whether the KRL program KRL program FRIControl (cf.KRL File: FRIControl.src) is being executed.
ETIME if the start-up procedure could not be completed within the specified time interval of TimeOutValueInSeconds
EOK if no error occurred.

See also:: FastResearchInterface::StopRobot()

Definition at line 68 of file StartRobot.cpp.

int FastResearchInterface::StopLogging ( void )

Stops real-time data logging.

A call of this method resets the flag FastResearchInterface::LoggingIsActive, which stops the communication thread FastResearchInterface::KRCCommunicationThreadMain() from writing data into heap memory. After calling this method, FastResearchInterface::WriteLoggingDataFile() can be called, which finally writes all logged data into a file.

This method can only be called if FastResearchInterface::StartLogging() was called beforehand.

Within the class FastResearchInterface, the data logging methods are supposed to be used in the following order:

FastResearchInterface::PrepareLogging() (not real-time capable)
FastResearchInterface::StartLogging() (real-time capable)
This method (real-time capable)
FastResearchInterface::WriteLoggingDataFile() (not real-time capable)

Returns:

EINVAL if the method FastResearchInterface::StartLogging() has not been called beforehand.
EOK otherwise.

Attention:: The call of this method does not fulfill any real-time requirements.

Remarks:: Please refer to the class DataLogging for more details on real-time data logging for the KUKA Light-Weight-Robot.

See also:: FastResearchInterface::StartLogging()

Definition at line 105 of file LoggingMethods.cpp.

int FastResearchInterface::StopRobot ( void )

Stops the robot.

By calling this method, a complete shutdown procedure of the robot arm is performed. No matter whether the KRC unit runs in Monitor Mode or Command Mode, the KRL variable $FRI_FRM_INT[16] is set to a value of 20, which lets the KRL program FRIControl (cf.KRL File: FRIControl.src) call the function friStop() in order to switch to Monitor Mode. After the KRC unit switched to Monitor Mode, the method returns.

Returns:

ENOTCONN if no connection between the remote host and the KRC unit could be established. Please check
- whether the KRC unit is turned on and the Ethernet cable (e.g., a crossed cable) is plugged in on both nodes,
- whether the KRL program FRIControl (cf.KRL File: FRIControl.src) has been started, or
- whether the KRC node is configured correctly in particular w.r.t. the network settings (cf. Introduction).
EOK if no error occurred.

See also:: FastResearchInterface::StartRobot()

Attention:

The call of this method does not fulfill any real-time requirements.
After calling the KRL function friStop(), the robot arm power may be still turned on. In the cases of

FastResearchInterface::CART_IMPEDANCE_CONTROL or

FastResearchInterface::JOINT_IMPEDANCE_CONTROL

this may lead to an uncontrolled and/or undesired behavior of the robot arm.

Definition at line 67 of file StopRobot.cpp.

static void * FastResearchInterface::TimerThreadMain ( void * ThreadArgument ) [static, protected]

Thread function for the timer thread.

Thread function for the KRC communication thread.

This function provides a basic timer functionality by periodically broadcasting a signal via a condition via a condition variable (FastResearchInterface::CondVarForTimer). This signal may be used by user applications calling FastResearchInterface::WaitForTimerTick().

Parameters:

ThreadArgument A pointer the FastResearchInterface object of the calling thread.

Note:: This method is currently only implemented for the QNX Neutrino RTOS.

Todo:: Implement this method for other operating systems.

See also:: FastResearchInterface::WaitForTimerTick()

This function is the gateway to the KRC unit; it sends and receives data telegrams using the class friUDP. Right after the reception of one tFriMsrData package, a tFriCmdData is sent back to the KRC unit. Furthermore, a signal to all other threads is broadcasted through the condition variable FastResearchInterface::CondVarForDataReceptionFromKRC. Other threads may use the method FastResearchInterface::WaitForKRCTick() to wait for this signal.

Parameters:

ThreadArgument A pointer the FastResearchInterface object of the calling thread.

See also:: FastResearchInterface::WaitForKRCTick()

Definition at line 154 of file TimerThreadMain.cpp.

int FastResearchInterface::WaitForKRCTick ( const unsigned int & TimeoutValueInMicroSeconds = 0 )

Blocks the calling thread until a message from the KRC unit has been received.

If set, this method resets the attribute FastResearchInterface::NewDataFromKRCReceived and returns (i.e., if a message has already been received, the method returns immediately).
If the attribute FastResearchInterface::NewDataFromKRCReceived is not set, this method blocks on the condition variable FastResearchInterface::CondVarForDataReceptionFromKRC. The corresponding signal for this condition variable will be generated by the thread FastResearchInterface::KRCCommunicationThreadMain() immediately after the complete reception of a new datagram from the KRC unit. The timeout parameter TimeoutValueInMicroSeconds is only supported for the QNX Neutrino RTOS. If this value is set, the calling thread will be waked up after the expiration of this timeout value given in microseconds. If this value of TimeoutValueInMicroSeconds equals zero, no timeout functionality will be applied, and the calling thread blocks until a message from the KRC unit is received (or until FastResearchInterface::~FastResearchInterface() sends a termination signal).

Parameters:

TimeoutValueInMicroSeconds Number of microseconds used for the timeout functionality

Note:: The timeout functionality using the value of TimeoutValueInMicroSeconds is only implemented for QNX Neutrino RTOS.

Returns:

EOK if a KRC message has been correctly received.
EAGAIN if there are insufficient system resources are available.
ETIMEDOUT if the specified timeout expired.
EINVAL if an internal error occurred (cf. http://www.qnx.com/developers/docs/6.3.2/neutrino/lib_ref/p/pthread_cond_wait.html or http://www.qnx.com/developers/docs/6.3.2/neutrino/lib_ref/p/pthread_cond_timedwait.html, respectively).

See also:: FastResearchInterface::WaitForTimerTick()

Definition at line 67 of file WaitForTicks.cpp.

int FastResearchInterface::WaitForTimerTick ( const unsigned int & TimeoutValueInMicroSeconds = 0 )

Blocks the calling thread until the timer thread sends a signal.

If set, this method resets the attribute FastResearchInterface::TimerFlag and returns (i.e., if a message has already been received, the method returns immediately).
If the attribute FastResearchInterface::TimerFlag is not set, this method blocks on the condition variable FastResearchInterface::CondVarForTimer. The corresponding signal for this condition variable will be generated by the thread FastResearchInterface::TimerThreadMain() immediately after its timer expired The timeout parameter TimeoutValueInMicroSeconds is only supported for the QNX Neutrino RTOS. If this value is set, the calling thread will be waked up after the expiration of this timeout value given in microseconds. If this value of TimeoutValueInMicroSeconds equals zero, no timeout functionality will be applied, and the calling thread blocks until a message from the KRC unit is received.

Parameters:

TimeoutValueInMicroSeconds Number of microseconds used for the timeout functionality

Note:: The timeout functionality using the value of TimeoutValueInMicroSeconds is only implemented for QNX Neutrino RTOS.

Returns:

EOK if a KRC message has been correctly received.
EAGAIN if there are insufficient system resources are available.
ETIMEDOUT if the specified timeout expired.
EINVAL if an internal error occurred (cf. http://www.qnx.com/developers/docs/6.3.2/neutrino/lib_ref/p/pthread_cond_wait.html or http://www.qnx.com/developers/docs/6.3.2/neutrino/lib_ref/p/pthread_cond_timedwait.html, respectively).

See also:: FastResearchInterface::WaitForKRCTick()

Definition at line 119 of file WaitForTicks.cpp.

int FastResearchInterface::WriteLoggingDataFile ( void )

Writes logged data to the output file and closes the file.

The data that has been sent and received between the calls of FastResearchInterface::StartLogging() and FastResearchInterface::StopLogging() is written into heap memory. This method writes this data into the file that was prepared by the method FastResearchInterface::PrepareLogging() and closes the file.

This method can only be called if FastResearchInterface::PrepareLogging() was called beforehand.

Within the class FastResearchInterface, the data logging methods are supposed to be used in the following order:

FastResearchInterface::PrepareLogging() (not real-time capable)
FastResearchInterface::StartLogging() (real-time capable)
FastResearchInterface::StopLogging() (real-time capable)
This method (not real-time capable)

Returns:

EINVAL if the method FastResearchInterface::PrepareLogging() has not been called beforehand.
EOF if the file could not be closed.
EOK otherwise.

Attention:: The call of this method does not fulfill any real-time requirements.

Remarks:: Please refer to the class DataLogging for more details on real-time data logging for the KUKA Light-Weight-Robot.

See also:: DataLogging::WriteToFile()

Definition at line 127 of file LoggingMethods.cpp.

Member Data Documentation

tFriCmdData FastResearchInterface::CommandData [protected]

Data structure object containing a copy of a complete data telegram to be sent to the KRC unit.

Definition at line 1941 of file FastResearchInterface.h.

pthread_cond_t FastResearchInterface::CondVarForDataReceptionFromKRC [protected]

Condition variable used by the KRC communication thread FastResearchInterface::KRCCommunicationThreadMain() for broadcasting after the reception of a message from the KRC unit.

Definition at line 1866 of file FastResearchInterface.h.

pthread_mutex_t FastResearchInterface::CondVarForThreadCreation [protected]

Condition variable used during the creation of new threads.