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ArGripper.cpp
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ArGripper.cpp
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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArGripper.h"
#include "ArCommands.h"
/**
@param robot The robot this gripper is attached to
@param gripperType How to communicate with the gripper: see ArGripper::Type.
The default, QUERYTYPE, will work with most robot configurations with
a recent firmware version.
*/
AREXPORT ArGripper::ArGripper(ArRobot *robot, int gripperType) :
myConnectCB(this, &ArGripper::connectHandler),
myPacketHandlerCB(this, &ArGripper::packetHandler)
{
myRobot = robot;
myType = gripperType;
if (myRobot != NULL)
{
myRobot->addPacketHandler(&myPacketHandlerCB, ArListPos::FIRST);
myRobot->addConnectCB(&myConnectCB, ArListPos::LAST);
if (myRobot->isConnected() && (myType == GRIPPAC || myType == QUERYTYPE))
myRobot->comInt(ArCommands::GRIPPERPACREQUEST, 2);
}
myLastDataTime.setToNow();
}
AREXPORT ArGripper::~ArGripper()
{
}
AREXPORT void ArGripper::connectHandler(void)
{
if (myRobot != NULL && (myType == GRIPPAC || myType == QUERYTYPE))
myRobot->comInt(ArCommands::GRIPPERPACREQUEST, 2);
}
/**
@return whether the command was sent to the robot or not
*/
AREXPORT bool ArGripper::gripOpen(void)
{
if (myRobot != NULL)
return myRobot->comInt(ArCommands::GRIPPER,
ArGripperCommands::GRIP_OPEN);
else
return false;
}
/**
@return whether the command was sent to the robot or not
*/
AREXPORT bool ArGripper::gripClose(void)
{
if (myRobot != NULL)
return myRobot->comInt(ArCommands::GRIPPER,
ArGripperCommands::GRIP_CLOSE);
else
return false;
}
/**
@return whether the command was sent to the robot or not
*/
AREXPORT bool ArGripper::gripStop(void)
{
if (myRobot != NULL)
return myRobot->comInt(ArCommands::GRIPPER,
ArGripperCommands::GRIP_STOP);
else
return false;
}
/**
@return whether the command was sent to the robot or not
*/
AREXPORT bool ArGripper::liftUp(void)
{
if (myRobot != NULL)
return myRobot->comInt(ArCommands::GRIPPER,
ArGripperCommands::LIFT_UP);
else
return false;
}
/**
@return whether the command was sent to the robot or not
*/
AREXPORT bool ArGripper::liftDown(void)
{
if (myRobot != NULL)
return myRobot->comInt(ArCommands::GRIPPER,
ArGripperCommands::LIFT_DOWN);
else
return false;
}
/**
@return whether the command was sent to the robot or not
*/
AREXPORT bool ArGripper::liftStop(void)
{
if (myRobot != NULL)
return myRobot->comInt(ArCommands::GRIPPER,
ArGripperCommands::LIFT_STOP);
else
return false;
}
/**
@return whether the command was sent to the robot or not
*/
AREXPORT bool ArGripper::gripperStore(void)
{
if (myRobot != NULL)
return myRobot->comInt(ArCommands::GRIPPER,
ArGripperCommands::GRIPPER_STORE);
else
return false;
}
/**
@return whether the command was sent to the robot or not
*/
AREXPORT bool ArGripper::gripperDeploy(void)
{
if (myRobot != NULL)
return myRobot->comInt(ArCommands::GRIPPER,
ArGripperCommands::GRIPPER_DEPLOY);
else
return false;
}
/**
@return whether the command was sent to the robot or not
*/
AREXPORT bool ArGripper::gripperHalt(void)
{
if (myRobot != NULL)
return myRobot->comInt(ArCommands::GRIPPER,
ArGripperCommands::GRIPPER_HALT);
else
return false;
}
/**
@return whether the command was sent to the robot or not
*/
AREXPORT bool ArGripper::gripPressure(int mSecIntervals)
{
if (myRobot == NULL)
return false;
if (myRobot->comInt(ArCommands::GRIPPER, ArGripperCommands::GRIP_PRESSURE) &&
myRobot->comInt(ArCommands::GRIPPERVAL, mSecIntervals))
return true;
else
return false;
}
/**
@return whether the command was sent to the robot or not
*/
AREXPORT bool ArGripper::liftCarry(int mSecIntervals)
{
if (myRobot == NULL)
return false;
if (myRobot->comInt(ArCommands::GRIPPER, ArGripperCommands::LIFT_CARRY) &&
myRobot->comInt(ArCommands::GRIPPERVAL, mSecIntervals))
return true;
else
return false;
}
/**
@return true if the gripper paddles are moving
*/
AREXPORT bool ArGripper::isGripMoving(void) const
{
int d;
if (myType == NOGRIPPER || myType == QUERYTYPE || myRobot == NULL)
{
return false;
}
else if (myType == GENIO || myType == GRIPPAC || myType == USERIO)
{
if (myType == GENIO || myType == USERIO)
d = myRobot->getAnalogPortSelected() >> 8;
else
d = mySwitches;
if (myType == USERIO && (d & ArUtil::BIT2)) // moving
return true;
else if (myType != USERIO && (d & ArUtil::BIT7)) // moving
return true;
else // not moving
return false;
}
else
{
ArLog::log(ArLog::Terse, "ArGripper::isGripMoving: Gripper type unknown.");
return false;
}
}
/**
@return true if the lift is moving
*/
AREXPORT bool ArGripper::isLiftMoving(void) const
{
int d;
if (myType == NOGRIPPER || myType == QUERYTYPE || myRobot == NULL)
{
return false;
}
else if (myType == GENIO || myType == GRIPPAC || myType == USERIO)
{
if (myType == GENIO || myType == USERIO)
d = myRobot->getAnalogPortSelected() >> 8;
else
d = mySwitches;
if (d & ArUtil::BIT6) // moving
return true;
else // not moving
return false;
}
else
{
ArLog::log(ArLog::Terse, "ArGripper::isLiftMoving: Gripper type unknown.");
return false;
}
}
/**
@return 0 if no gripper paddles are triggered, 1 if the left paddle
is triggered, 2 if the right paddle is triggered, 3 if both are
triggered
**/
AREXPORT int ArGripper::getPaddleState(void) const
{
int d;
int ret = 0;
if (myType == NOGRIPPER || myType == QUERYTYPE || myRobot == NULL)
{
return 0;
}
else if (myType == GENIO || myType == GRIPPAC || myType == USERIO)
{
if (myType == GENIO)
d = myRobot->getAnalogPortSelected() >> 8;
else if (myType == USERIO)
d = myRobot->getDigIn();
else
d = mySwitches;
if (!(d & ArUtil::BIT4))
ret += 1;
if (!(d & ArUtil::BIT5))
ret += 2;
return ret;
}
else
{
ArLog::log(ArLog::Terse, "ArGripper::getPaddleState: Gripper type unknown.");
return 0;
}
}
/**
@return 0 if gripper paddles between open and closed, 1 if gripper paddles
are open, 2 if gripper paddles are closed
*/
AREXPORT int ArGripper::getGripState(void) const
{
int d;
if (myType == NOGRIPPER || myType == QUERYTYPE || myRobot == NULL)
{
return 0;
}
else if (myType == GENIO || myType == GRIPPAC || myType == USERIO)
{
if (myType == GENIO)
d = myRobot->getAnalogPortSelected() >> 8;
else if (myType == USERIO)
d = myRobot->getDigIn();
else
d = mySwitches;
if (!(d & ArUtil::BIT4) && !(d & ArUtil::BIT5)) // both
return 2;
else if (!(d & ArUtil::BIT0)) // inner
return 1;
else // between
return 0;
}
else
{
ArLog::log(ArLog::Terse, "ArGripper::getGripState: Gripper type unknown.");
return 0;
}
}
/**
@return 0 if no breakbeams broken, 1 if inner breakbeam broken, 2 if
outter breakbeam broken, 3 if both breakbeams broken
*/
AREXPORT int ArGripper::getBreakBeamState(void) const
{
int d;
if (myType == NOGRIPPER || myType == QUERYTYPE || myRobot == NULL)
{
return 0;
}
else if (myType == GENIO || myType == GRIPPAC || myType == USERIO)
{
if (myType == GENIO)
d = myRobot->getAnalogPortSelected() >> 8;
else if (myType == USERIO)
d = myRobot->getDigIn();
else
d = mySwitches;
if ((d & ArUtil::BIT2) && (d & ArUtil::BIT3)) // both
return 3;
else if (d & ArUtil::BIT3) // inner
return 1;
else if (d & ArUtil::BIT2) // outter
return 2;
else // neither
return 0;
}
else
{
ArLog::log(ArLog::Terse,
"ArGripper::getBreakBeamState: Gripper type unknown.");
return 0;
}
}
/**
@return false if lift is between up and down, true is either all the
way up or down
*/
AREXPORT bool ArGripper::isLiftMaxed(void) const
{
int d = 0;
if (myType == NOGRIPPER || myType == QUERYTYPE || myRobot == NULL)
{
return false;
}
else if (myType == GENIO || myType == GRIPPAC || myType == USERIO)
{
if (myType == GENIO)
d = myRobot->getAnalogPortSelected() >> 8;
else if (myType == USERIO)
d = myRobot->getDigIn();
else
d = mySwitches;
if (!(d & ArUtil::BIT1))
return true;
else
return false;
}
else
{
ArLog::log(ArLog::Terse, "ArGripper::getLiftState: Gripper type unknown.");
return false;
}
}
AREXPORT void ArGripper::logState(void) const
{
char paddleBuf[128];
char liftBuf[128];
char breakBeamBuf[128];
char buf[1024];
int state;
if (myType == NOGRIPPER)
{
ArLog::log(ArLog::Terse, "There is no gripper.");
return;
}
if (myType == QUERYTYPE)
{
ArLog::log(ArLog::Terse, "Querying gripper type.");
return;
}
if (isLiftMaxed())
sprintf(liftBuf, "maxed");
else
sprintf(liftBuf, "between");
if (isLiftMoving())
strcat(liftBuf, "_moving");
state = getGripState();
if (state == 1)
sprintf(paddleBuf, "open");
else if (state == 2)
sprintf(paddleBuf, "closed");
else
sprintf(paddleBuf, "between");
if (isGripMoving())
strcat(paddleBuf, "_moving");
state = getBreakBeamState();
if (state == 0)
sprintf(breakBeamBuf, "none");
else if (state == 1)
sprintf(breakBeamBuf, "inner");
else if (state == 2)
sprintf(breakBeamBuf, "outter");
else if (state == 3)
sprintf(breakBeamBuf, "both");
sprintf(buf, "Lift: %15s Grip: %15s BreakBeam: %10s", liftBuf, paddleBuf,
breakBeamBuf);
if (myType == GRIPPAC)
sprintf(buf, "%s TimeSince: %ld", buf, getMSecSinceLastPacket());
ArLog::log(ArLog::Terse, buf);
}
AREXPORT bool ArGripper::packetHandler(ArRobotPacket *packet)
{
int type;
if (packet->getID() != 0xE0)
return false;
myLastDataTime.setToNow();
type = packet->bufToUByte();
mySwitches = packet->bufToUByte();
myGraspTime = packet->bufToUByte();
if (myType == QUERYTYPE)
{
if (type == 2)
{
ArLog::log(ArLog::Normal,
"Gripper: querried, using General IO.");
myType = GENIO;
}
else if (type == 1)
{
ArLog::log(ArLog::Normal,
"Gripper: querried, using User IO.");
myType = USERIO;
}
else
{
ArLog::log(ArLog::Normal,
"Gripper: querried, the robot has no gripper.");
myType = NOGRIPPER;
}
if (myRobot != NULL)
myRobot->comInt(ArCommands::GRIPPERPACREQUEST, 0);
return true;
}
if (myRobot != NULL && myType != GRIPPAC)
{
ArLog::log(ArLog::Verbose,
"Gripper: got another gripper packet after stop requested.");
myRobot->comInt(ArCommands::GRIPPERPACREQUEST, 0);
}
return true;
}
/**
@return the gripper type
@see Type
*/
AREXPORT int ArGripper::getType(void) const
{
return myType;
}
/**
@param type the type of gripper to set it to
*/
AREXPORT void ArGripper::setType(int type)
{
myType = type;
if (myRobot != NULL && (myType == GRIPPAC || myType == QUERYTYPE))
myRobot->comInt(ArCommands::GRIPPERPACREQUEST, 2);
}
/**
@return the number of milliseconds since the last packet
*/
AREXPORT long ArGripper::getMSecSinceLastPacket(void) const
{
return myLastDataTime.mSecSince();
}
/**
If you are using this as anything other than GRIPPAC and you want to
find out the grasp time again, just do a setType with QUERYTYPE and
it will query the robot again and get the grasp time from the robot.
@return the number of 20 MSec intervals the gripper will continue grasping
for after both paddles are triggered
*/
AREXPORT int ArGripper::getGraspTime(void) const
{
return myGraspTime;
}