kuonRobot.cxx File Reference

Kuon Robot Class implementation. More...

#include <stdio.h>
#include <unistd.h>
#include <pthread.h>
#include <math.h>
#include <string>
#include <vector>
#include <map>
#include "rnr/rnrconfig.h"
#include "rnr/units.h"
#include "rnr/log.h"
#include "Kuon/RS160DControl.h"
#include "Kuon/kuon.h"
#include "Kuon/kuonUtils.h"
#include "Kuon/kuonSpec.h"
#include "Kuon/kuonDesc.h"
#include "Kuon/kuonJoint.h"
#include "Kuon/kuonTraj.h"
#include "Kuon/kuonStatus.h"
#include "Kuon/kuonRobot.h"

Go to the source code of this file.

Macros
#define	KUON_TRY_NO_EXEC()
	Test for no execute flag. More...
#define	KUON_TRY_CONN()
	Test for connection. More...
#define	KUON_TRY_NOT_ESTOP()
	Test for not estop. More...

Detailed Description

Kuon Robot Class implementation.

LastChangedDate

2014-04-09 15:58:07 -0600 (Wed, 09 Apr 2014)

Rev

3638

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Daniel Packard (danie.nosp@m.l@ro.nosp@m.adnar.nosp@m.rows.nosp@m..com)

Copyright

© 2013-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file kuonRobot.cxx.

Macro Definition Documentation

#define KUON_TRY_CONN

(

)

Value:

do \
  { \
    if( !isConnected() ) \
    { \
      LOGERROR("Robot is not connected."); \
      return -KUON_ECODE_NO_EXEC; \
    } \
  } while(0)

Test for connection.

Only works in KuonRobot methods.

Returns

On failure, forces return from calling function with the appropriate error code.

Definition at line 106 of file kuonRobot.cxx.

Referenced by kuon::KuonRobot::clearAlarms(), kuon::KuonRobot::estop(), kuon::KuonRobot::freeze(), kuon::KuonRobot::getJointState(), kuon::KuonRobot::release(), kuon::KuonRobot::setBrake(), kuon::KuonRobot::setSlew(), and kuon::KuonRobot::setSpeed().

#define KUON_TRY_NO_EXEC

(

)

Value:

do \
  { \
    if( m_bNoExec ) \
    { \
      return KUON_OK; \
    } \
  } while(0)

Test for no execute flag.

Only works in KuonRobot methods.

Returns

On true, return with KUON_OK.

Definition at line 89 of file kuonRobot.cxx.

Referenced by kuon::KuonRobot::estop(), kuon::KuonRobot::freeze(), and kuon::KuonRobot::release().

#define KUON_TRY_NOT_ESTOP

(

)

Value:

do \
  { \
    if( m_bIsEStopped ) \
    { \
      LOGERROR("Robot is emergency stopped."); \
      return -KUON_ECODE_NO_EXEC; \
    } \
  } while(0)

Test for not estop.

Only works in KuonRobot methods.

Returns

On failure, forces return from calling function with the appropriate error code.

Definition at line 124 of file kuonRobot.cxx.

Referenced by kuon::KuonRobot::setBrake(), kuon::KuonRobot::setSlew(), and kuon::KuonRobot::setSpeed().