00001 #ifndef YOUBOT_YOUBOTGRIPPER_H 00002 #define YOUBOT_YOUBOTGRIPPER_H 00003 00004 /**************************************************************** 00005 * 00006 * Copyright (c) 2011 00007 * All rights reserved. 00008 * 00009 * Hochschule Bonn-Rhein-Sieg 00010 * University of Applied Sciences 00011 * Computer Science Department 00012 * 00013 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00014 * 00015 * Author: 00016 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov 00017 * Supervised by: 00018 * Gerhard K. Kraetzschmar 00019 * 00020 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00021 * 00022 * This sofware is published under a dual-license: GNU Lesser General Public 00023 * License LGPL 2.1 and BSD license. The dual-license implies that users of this 00024 * code may choose which terms they prefer. 00025 * 00026 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00027 * 00028 * Redistribution and use in source and binary forms, with or without 00029 * modification, are permitted provided that the following conditions are met: 00030 * 00031 * * Redistributions of source code must retain the above copyright 00032 * notice, this list of conditions and the following disclaimer. 00033 * * Redistributions in binary form must reproduce the above copyright 00034 * notice, this list of conditions and the following disclaimer in the 00035 * documentation and/or other materials provided with the distribution. 00036 * * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its 00037 * contributors may be used to endorse or promote products derived from 00038 * this software without specific prior written permission. 00039 * 00040 * This program is free software: you can redistribute it and/or modify 00041 * it under the terms of the GNU Lesser General Public License LGPL as 00042 * published by the Free Software Foundation, either version 2.1 of the 00043 * License, or (at your option) any later version or the BSD license. 00044 * 00045 * This program is distributed in the hope that it will be useful, 00046 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00047 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00048 * GNU Lesser General Public License LGPL and the BSD license for more details. 00049 * 00050 * You should have received a copy of the GNU Lesser General Public 00051 * License LGPL and BSD license along with this program. 00052 * 00053 ****************************************************************/ 00054 #include <vector> 00055 #include <sstream> 00056 #include "generic/Logger.hpp" 00057 #include "generic/Units.hpp" 00058 #include "generic/Time.hpp" 00059 #include "generic/Exceptions.hpp" 00060 #include "youbot/ProtocolDefinitions.hpp" 00061 #include "youbot/EthercatMaster.hpp" 00062 #include "youbot/EthercatMasterInterface.hpp" 00063 #include "youbot/EthercatMasterWithThread.hpp" 00064 #include "youbot/EthercatMasterWithoutThread.hpp" 00065 #include "youbot/YouBotSlaveMsg.hpp" 00066 #include "youbot/YouBotSlaveMailboxMsg.hpp" 00067 #include "generic-gripper/Gripper.hpp" 00068 #include "generic-gripper/GripperData.hpp" 00069 #include "generic-gripper/GripperParameter.hpp" 00070 #include "one-dof-gripper/OneDOFGripper.hpp" 00071 #include "one-dof-gripper/OneDOFGripperData.hpp" 00072 #include "youbot/YouBotGripperParameter.hpp" 00073 #include "youbot/YouBotGripperBar.hpp" 00074 #include <boost/scoped_ptr.hpp> 00075 00076 namespace youbot { 00077 00078 /////////////////////////////////////////////////////////////////////////////// 00079 /// The youBot gripper with one degree of freedom 00080 /////////////////////////////////////////////////////////////////////////////// 00081 class YouBotGripper : public OneDOFGripper { 00082 public: 00083 YouBotGripper(const unsigned int jointNo, const std::string& configFilePath = "../config/"); 00084 00085 virtual ~YouBotGripper(); 00086 00087 00088 protected: 00089 virtual void getConfigurationParameter(GripperParameter& parameter) const; 00090 00091 virtual void setConfigurationParameter(const GripperParameter& parameter); 00092 00093 00094 public: 00095 virtual void getConfigurationParameter(GripperFirmwareVersion& parameter) const; 00096 00097 virtual void setConfigurationParameter(const CalibrateGripper& parameter); 00098 00099 virtual void getConfigurationParameter(YouBotSlaveMailboxMsg& parameter) const; 00100 00101 00102 protected: 00103 virtual void getData(const GripperData& data) const; 00104 00105 virtual void setData(const GripperData& data); 00106 00107 virtual void getData(OneDOFGripperData& data) const; 00108 00109 virtual void setData(const OneDOFGripperData& data); 00110 00111 00112 public: 00113 virtual void setData(const GripperBarSpacingSetPoint& barSpacing); 00114 00115 virtual void getData(GripperSensedBarSpacing& barSpacing) const; 00116 00117 void open(); 00118 00119 void close(); 00120 00121 YouBotGripperBar& getGripperBar1(); 00122 00123 YouBotGripperBar& getGripperBar2(); 00124 00125 00126 private: 00127 YouBotGripper(const YouBotGripper & source); 00128 00129 YouBotGripper & operator=(const YouBotGripper & source); 00130 00131 void parseMailboxStatusFlags(const YouBotSlaveMailboxMsg& mailboxMsg) const; 00132 00133 bool setValueToMotorContoller(const YouBotSlaveMailboxMsg& mailboxMsg) const; 00134 00135 bool retrieveValueFromMotorContoller(YouBotSlaveMailboxMsg& message) const; 00136 00137 EthercatMasterInterface* ethercatMaster; 00138 00139 unsigned int timeTillNextMailboxUpdate; 00140 00141 unsigned int mailboxMsgRetries; 00142 00143 unsigned int jointNumber; 00144 00145 boost::scoped_ptr<YouBotGripperBar> bar1; 00146 00147 boost::scoped_ptr<YouBotGripperBar> bar2; 00148 00149 }; 00150 00151 } // namespace youbot 00152 #endif