24 #ifndef __INTERFACES_GRIPPERINTERFACE_H_ 25 #define __INTERFACES_GRIPPERINTERFACE_H_ 27 #include <interface/interface.h> 28 #include <interface/message.h> 29 #include <interface/field_iterator.h> 50 typedef struct __attribute__((packed)) {
51 int64_t timestamp_sec;
52 int64_t timestamp_usec;
56 } GripperInterface_data_t;
58 GripperInterface_data_t *data;
67 typedef struct __attribute__((packed)) {
68 int64_t timestamp_sec;
69 int64_t timestamp_usec;
70 } OpenGripperMessage_data_t;
72 OpenGripperMessage_data_t *data;
81 virtual Message * clone()
const;
88 typedef struct __attribute__((packed)) {
89 int64_t timestamp_sec;
90 int64_t timestamp_usec;
91 } CloseGripperMessage_data_t;
93 CloseGripperMessage_data_t *data;
102 virtual Message * clone()
const;
118 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;
Base class for all messages passed through interfaces in Fawkes BlackBoard.
CloseGripperMessage Fawkes BlackBoard Interface Message.
Fawkes library namespace.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
virtual Message * create_message(const char *type) const
Create message based on type name.
Base class for all Fawkes BlackBoard interfaces.
GripperState gripper_state() const
Get gripper_state value.
void set_gripper_state(const GripperState new_gripper_state)
Set gripper_state value.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
const char * type() const
Get type of interface.
virtual void copy_values(const Interface *other)
Copy values from other interface.
const char * tostring_GripperState(GripperState value) const
Convert GripperState constant to string.
std::map< int, std::string > interface_enum_map_t
Map of enum integer to string values.
size_t maxlenof_gripper_state() const
Get maximum length of gripper_state value.
GripperState
Indicator of current or desired gripper state.
OpenGripperMessage Fawkes BlackBoard Interface Message.
GripperInterface Fawkes BlackBoard Interface.