Fawkes API
Fawkes Development Version
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JacoBimanualInterface Fawkes BlackBoard Interface. More...
#include <>>
Classes | |
class | CartesianGotoMessage |
CartesianGotoMessage Fawkes BlackBoard Interface Message. More... | |
class | MoveGripperMessage |
MoveGripperMessage Fawkes BlackBoard Interface Message. More... | |
class | SetConstrainedMessage |
SetConstrainedMessage Fawkes BlackBoard Interface Message. More... | |
class | SetPlannerParamsMessage |
SetPlannerParamsMessage Fawkes BlackBoard Interface Message. More... | |
Public Member Functions | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
uint32_t | msgid () const |
Get msgid value. More... | |
void | set_msgid (const uint32_t new_msgid) |
Set msgid value. More... | |
size_t | maxlenof_msgid () const |
Get maximum length of msgid value. More... | |
bool | is_final () const |
Get final value. More... | |
void | set_final (const bool new_final) |
Set final value. More... | |
size_t | maxlenof_final () const |
Get maximum length of final value. More... | |
uint32_t | error_code () const |
Get error_code value. More... | |
void | set_error_code (const uint32_t new_error_code) |
Set error_code value. More... | |
size_t | maxlenof_error_code () const |
Get maximum length of error_code value. More... | |
bool | is_constrained () const |
Get constrained value. More... | |
void | set_constrained (const bool new_constrained) |
Set constrained value. More... | |
size_t | maxlenof_constrained () const |
Get maximum length of constrained value. More... | |
virtual Message * | create_message (const char *type) const |
Create message based on type name. More... | |
virtual void | copy_values (const Interface *other) |
Copy values from other interface. More... | |
virtual const char * | enum_tostring (const char *enumtype, int val) const |
Convert arbitrary enum value to string. More... | |
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virtual | ~Interface () |
Destructor. More... | |
bool | oftype (const char *interface_type) const |
Check if interface is of given type. More... | |
const void * | datachunk () const |
Get data chunk. More... | |
unsigned int | datasize () const |
Get data size. More... | |
const char * | type () const |
Get type of interface. More... | |
const char * | id () const |
Get identifier of interface. More... | |
const char * | uid () const |
Get unique identifier of interface. More... | |
unsigned short | serial () const |
Get instance serial of interface. More... | |
unsigned int | mem_serial () const |
Get memory serial of interface. More... | |
bool | operator== (Interface &comp) const |
Check equality of two interfaces. More... | |
const unsigned char * | hash () const |
Get interface hash. More... | |
size_t | hash_size () const |
Get size of interface hash. More... | |
const char * | hash_printable () const |
Get printable interface hash. More... | |
bool | is_writer () const |
Check if this is a writing instance. More... | |
void | set_validity (bool valid) |
Mark this interface invalid. More... | |
bool | is_valid () const |
Check validity of interface. More... | |
const char * | owner () const |
Get owner of interface. More... | |
void | set_from_chunk (void *chunk) |
Set from a raw data chunk. More... | |
void | resize_buffers (unsigned int num_buffers) |
Resize buffer array. More... | |
unsigned int | num_buffers () const |
Get number of buffers. More... | |
void | copy_shared_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | copy_private_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | read_from_buffer (unsigned int buffer) |
Copy data from buffer to private memory. More... | |
int | compare_buffers (unsigned int buffer) |
Compare buffer to private memory. More... | |
Time | buffer_timestamp (unsigned int buffer) |
Get time of a buffer. More... | |
void | buffer_timestamp (unsigned int buffer, Time *timestamp) |
Get time of a buffer. More... | |
void | read () |
Read from BlackBoard into local copy. More... | |
void | write () |
Write from local copy into BlackBoard memory. More... | |
bool | has_writer () const |
Check if there is a writer for the interface. More... | |
unsigned int | num_readers () const |
Get the number of readers. More... | |
std::string | writer () const |
Get owner name of writing interface instance. More... | |
std::list< std::string > | readers () const |
Get owner names of reading interface instances. More... | |
bool | changed () const |
Check if data has been changed. More... | |
const Time * | timestamp () const |
Get timestamp of last write. More... | |
void | set_auto_timestamping (bool enabled) |
Enable or disable automated timestamping. More... | |
void | set_timestamp (const Time *t=NULL) |
Set timestamp. More... | |
void | set_clock (Clock *clock) |
Set clock to use for timestamping. More... | |
void | mark_data_changed () |
Mark data as changed. More... | |
std::list< const char * > | get_message_types () |
Obtain a list of textual representations of the message types available for this interface. More... | |
unsigned int | msgq_enqueue (Message *message) |
Enqueue message at end of queue. More... | |
unsigned int | msgq_enqueue_copy (Message *message) |
Enqueue copy of message at end of queue. More... | |
void | msgq_remove (Message *message) |
Remove message from queue. More... | |
void | msgq_remove (unsigned int message_id) |
Remove message from queue. More... | |
unsigned int | msgq_size () |
Get size of message queue. More... | |
void | msgq_flush () |
Flush all messages. More... | |
void | msgq_lock () |
Lock message queue. More... | |
bool | msgq_try_lock () |
Try to lock message queue. More... | |
void | msgq_unlock () |
Unlock message queue. More... | |
void | msgq_pop () |
Erase first message from queue. More... | |
Message * | msgq_first () |
Get the first message from the message queue. More... | |
bool | msgq_empty () |
Check if queue is empty. More... | |
void | msgq_append (Message *message) |
Enqueue message. More... | |
template<class MessageType > | |
bool | msgq_first_is () |
Check if first message has desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first () |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first (MessageType *&msg) |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first_safe (MessageType *&msg) throw () |
Get first message casted to the desired type without exceptions. More... | |
MessageQueue::MessageIterator | msgq_begin () |
Get start iterator for message queue. More... | |
MessageQueue::MessageIterator | msgq_end () |
Get end iterator for message queue. More... | |
InterfaceFieldIterator | fields () |
Get iterator over all fields of this interface instance. More... | |
InterfaceFieldIterator | fields_end () |
Invalid iterator. More... | |
unsigned int | num_fields () |
Get the number of fields in the interface. More... | |
Static Public Attributes | |
static const uint32_t | ERROR_NONE = 0u |
ERROR_NONE constant. More... | |
static const uint32_t | ERROR_UNSPECIFIC = 1u |
ERROR_UNSPECIFIC constant. More... | |
static const uint32_t | ERROR_NO_IK = 2u |
ERROR_NO_IK constant. More... | |
static const uint32_t | ERROR_PLANNING = 4u |
ERROR_PLANNING constant. More... | |
Additional Inherited Members | |
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static void | parse_uid (const char *uid, std::string &type, std::string &id) |
Parse UID to type and ID strings. More... | |
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Interface () | |
Constructor. More... | |
void | set_hash (unsigned char *ihash) |
Set hash. More... | |
void | add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0) |
Add an entry to the field info list. More... | |
void | add_messageinfo (const char *name) |
Add an entry to the message info list. More... | |
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void * | data_ptr |
Pointer to local memory storage. More... | |
unsigned int | data_size |
Minimal data size to hold data storage. More... | |
bool | data_changed |
Indicator if data has changed. More... | |
interface_data_ts_t * | data_ts |
Pointer to data casted to timestamp struct. More... | |
JacoBimanualInterface Fawkes BlackBoard Interface.
Interface for coordinate bimanual manipulation with a Kinova Jaco arm.
Definition at line 33 of file JacoBimanualInterface.h.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 236 of file JacoBimanualInterface.cpp.
References fawkes::Interface::type().
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Create message based on type name.
This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.
type | message type |
UnknownTypeException | thrown if this interface cannot create a message of the given type. |
Implements fawkes::Interface.
Definition at line 215 of file JacoBimanualInterface.cpp.
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Convert arbitrary enum value to string.
Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.
enumtype | enum type as string |
val | value to convert |
UnknownTypeException | thrown if enumtype is not specified for interface. |
Implements fawkes::Interface.
Definition at line 247 of file JacoBimanualInterface.cpp.
uint32_t fawkes::JacoBimanualInterface::error_code | ( | ) | const |
Get error_code value.
Error code, set if final is true. 0 if no error occured, an error code from ERROR_* constants otherwise.
Definition at line 152 of file JacoBimanualInterface.cpp.
bool fawkes::JacoBimanualInterface::is_constrained | ( | ) | const |
Get constrained value.
Wheter planning is using constraint-function. This is an OpenRAVE internal constraint function.
Definition at line 186 of file JacoBimanualInterface.cpp.
bool fawkes::JacoBimanualInterface::is_final | ( | ) | const |
Get final value.
True, if the last command has been finished, false if it is still running
Definition at line 118 of file JacoBimanualInterface.cpp.
size_t fawkes::JacoBimanualInterface::maxlenof_constrained | ( | ) | const |
Get maximum length of constrained value.
Definition at line 196 of file JacoBimanualInterface.cpp.
size_t fawkes::JacoBimanualInterface::maxlenof_error_code | ( | ) | const |
Get maximum length of error_code value.
Definition at line 162 of file JacoBimanualInterface.cpp.
size_t fawkes::JacoBimanualInterface::maxlenof_final | ( | ) | const |
Get maximum length of final value.
Definition at line 128 of file JacoBimanualInterface.cpp.
size_t fawkes::JacoBimanualInterface::maxlenof_msgid | ( | ) | const |
Get maximum length of msgid value.
Definition at line 95 of file JacoBimanualInterface.cpp.
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virtual |
Check if message is valid and can be enqueued.
message | Message to check |
Implements fawkes::Interface.
Definition at line 1164 of file JacoBimanualInterface.cpp.
uint32_t fawkes::JacoBimanualInterface::msgid | ( | ) | const |
Get msgid value.
The ID of the message that is currently being processed, or 0 if no message is being processed.
Definition at line 85 of file JacoBimanualInterface.cpp.
void fawkes::JacoBimanualInterface::set_constrained | ( | const bool | new_constrained | ) |
Set constrained value.
Wheter planning is using constraint-function. This is an OpenRAVE internal constraint function.
new_constrained | new constrained value |
Definition at line 207 of file JacoBimanualInterface.cpp.
void fawkes::JacoBimanualInterface::set_error_code | ( | const uint32_t | new_error_code | ) |
Set error_code value.
Error code, set if final is true. 0 if no error occured, an error code from ERROR_* constants otherwise.
new_error_code | new error_code value |
Definition at line 174 of file JacoBimanualInterface.cpp.
Referenced by JacoBimanualGotoThread::loop(), and JacoBimanualActThread::loop().
void fawkes::JacoBimanualInterface::set_final | ( | const bool | new_final | ) |
Set final value.
True, if the last command has been finished, false if it is still running
new_final | new final value |
Definition at line 139 of file JacoBimanualInterface.cpp.
Referenced by JacoBimanualActThread::loop().
void fawkes::JacoBimanualInterface::set_msgid | ( | const uint32_t | new_msgid | ) |
Set msgid value.
The ID of the message that is currently being processed, or 0 if no message is being processed.
new_msgid | new msgid value |
Definition at line 106 of file JacoBimanualInterface.cpp.
Referenced by JacoBimanualActThread::loop().
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ERROR_NO_IK constant.
Definition at line 42 of file JacoBimanualInterface.h.
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ERROR_NONE constant.
Definition at line 40 of file JacoBimanualInterface.h.
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static |
ERROR_PLANNING constant.
Definition at line 43 of file JacoBimanualInterface.h.
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static |
ERROR_UNSPECIFIC constant.
Definition at line 41 of file JacoBimanualInterface.h.