#include <mtsIntuitiveResearchKitSUJ.h>

Inheritance diagram for mtsIntuitiveResearchKitSUJ:

Public Member Functions
	mtsIntuitiveResearchKitSUJ (const std::string &componentName, const double periodInSeconds)

	mtsIntuitiveResearchKitSUJ (const mtsTaskPeriodicConstructorArg &arg)

	~mtsIntuitiveResearchKitSUJ ()

void	Configure (const std::string &filename)

void	Startup (void)

void	Run (void)

void	Cleanup (void)

Public Member Functions inherited from mtsTaskPeriodic
	mtsTaskPeriodic (const std::string &name, double periodicityInSeconds, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskPeriodic (const std::string &name, const osaAbsoluteTime &periodicity, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskPeriodic (const mtsTaskPeriodicConstructorArg &arg)

virtual	~mtsTaskPeriodic ()

void	Suspend (void)

double	GetPeriodicity (void) const

bool	IsPeriodic (void) const

Public Member Functions inherited from mtsTaskContinuous
	mtsTaskContinuous (const std::string &name, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskContinuous (const mtsTaskContinuousConstructorArg &arg)

virtual	~mtsTaskContinuous ()

void	Create (void *data=0)

void	Start (void)

void	Kill (void)

Public Member Functions inherited from mtsTask
	mtsTask (const std::string &name, unsigned int sizeStateTable=256)

virtual	~mtsTask ()

virtual void	OnStartupException (const std::exception &excp)

virtual void	OnRunException (const std::exception &excp)

virtual void	Configure (const std::string &CMN_UNUSED(filename)="")

void	SetInitializationDelay (double delay)

void	Create (void)

double	GetAveragePeriod (void) const

const std::string	GetDefaultStateTableName (void) const

mtsStateTable *	GetDefaultStateTable (void)

mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType required=MTS_REQUIRED)

mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &newInterfaceName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY, bool isProxy=false)

virtual bool	WaitToStart (double timeout)

virtual bool	WaitToTerminate (double timeout)

virtual void	WaitForWakeup (void)

virtual void	Wakeup (void)

void	ProcessManagerCommandsIfNotActive ()

bool	CheckForOwnThread (void) const

virtual bool	IsOverranPeriod (void) const

virtual void	ResetOverranPeriod (void)

Public Member Functions inherited from mtsComponent
	mtsComponent (const std::string &deviceName)

virtual	~mtsComponent ()

const std::string &	GetName (void) const

void	GetName (std::string &placeHolder) const

void	SetName (const std::string &componentName)

bool	CreateAndWait (double timeoutInSeconds)

bool	StartAndWait (double timeoutInSeconds)

bool	KillAndWait (double timeoutInSeconds)

mtsInterfaceProvided *	AddInterfaceProvided (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY)

CISST_DEPRECATED mtsInterfaceProvided *	AddProvidedInterface (const std::string &interfaceProvidedName)

virtual mtsInterfaceOutput *	AddInterfaceOutput (const std::string &interfaceOutputName)

bool	InterfaceExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceProvidedOrOutputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceRequiredOrInputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

mtsInterfaceProvided *	GetInterfaceProvided (const std::string &interfaceProvidedName) const

mtsInterfaceOutput *	GetInterfaceOutput (const std::string &interfaceOutputName) const

size_t	GetNumberOfInterfacesProvided (void) const

size_t	GetNumberOfInterfacesOutput (void) const

bool	RemoveInterfaceProvided (const std::string &interfaceProvidedName, const bool skipDisconnect=false)

mtsInterfaceRequired *	AddInterfaceRequired (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)

CISST_DEPRECATED mtsInterfaceRequired *	AddRequiredInterface (const std::string &requiredInterfaceName)

virtual mtsInterfaceInput *	AddInterfaceInput (const std::string &interfaceInputName)

const mtsInterfaceProvided *	GetInterfaceProvidedFor (const std::string &interfaceRequiredName)

mtsInterfaceRequired *	GetInterfaceRequired (const std::string &interfaceRequiredName)

mtsInterfaceInput *	GetInterfaceInput (const std::string &interfaceInputName) const

size_t	GetNumberOfInterfacesRequired (void) const

size_t	GetNumberOfInterfacesInput (void) const

bool	RemoveInterfaceRequired (const std::string &interfaceRequiredName, const bool skipDisconnect=false)

const mtsManagerComponentServices *	GetManagerComponentServices (void) const

mtsManagerComponentServices *	GetManagerComponentServices (void)

mtsStateTable *	GetStateTable (const std::string &stateTableName)

bool	AddStateTable (mtsStateTable *existingStateTable, bool addInterfaceProvided=true)

void	UseSeparateLogFileDefault (bool forwardToLogger=true)

void	UseSeparateLogFileDefaultWithDate (bool forwardToLogger=true)

void	UseSeparateLogFile (const std::string &filename, bool forwardToLogger=true)

cmnLogger::StreamBufType *	GetLogMultiplexer (void) const

bool	IsRunning (void) const

bool CISST_DEPRECATED	Running (void) const

bool	IsStarted (void) const

bool	IsTerminated (void) const

bool	IsEndTask (void) const

const mtsComponentState &	GetState (void) const

void	GetState (mtsComponentState &state) const

void	ToStream (std::ostream &outputStream) const

bool	SetReplayMode (void)

bool	SetReplayData (const std::string &stateTableName, const std::string &fileName)

bool	SetReplayTime (const double time)

std::vector< std::string >	GetNamesOfInterfacesProvidedOrOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesProvided (void) const

std::vector< std::string >	GetNamesOfInterfacesOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequiredOrInput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequired (void) const

std::vector< std::string >	GetNamesOfInterfacesInput (void) const

Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)

virtual const cmnClassServicesBase *	Services (void) const =0

bool	ReconstructFrom (const cmnGenericObject &other)

std::string	ToString (void) const

virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const

virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter= ' ')

virtual void	SerializeRaw (std::ostream &outputStream) const

virtual void	DeSerializeRaw (std::istream &inputStream)

virtual size_t	ScalarNumber (void) const

virtual bool	ScalarNumberIsFixed (void) const

virtual double	Scalar (const size_t CMN_UNUSED(index)) const throw (std::out_of_range)

virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Static Public Attributes
static const size_t	NumberOfJoints = 4

static const size_t	NumberOfBrakes = 3

Static Public Attributes inherited from mtsTask
static std::runtime_error	UnknownException

Protected Member Functions
void	Init (void)

void	GetRobotData (void)

void	GetAndConvertPotentiometerValues (void)

void	SetState (const mtsIntuitiveResearchKitArmTypes::RobotStateType &newState)

void	RunHoming (void)

void	RunHomingPower (void)

void	RunReady (void)

void	SetRobotControlState (const std::string &state)

void	GetRobotControlState (std::string &state) const

void	SetLiftVelocity (const double &velocity)

void	SetBaseFrame (const prmPositionCartesianGet &newBaseFrame)

void	ErrorEventHandler (const std::string &message)

void	MotorDownEventHandler (const prmEventButton &button)

void	MotorUpEventHandler (const prmEventButton &button)

void	DispatchError (const std::string &message)

void	DispatchStatus (const std::string &message)

Protected Member Functions inherited from mtsTaskPeriodic
virtual void *	RunInternal (void *argument)

void	StartupInternal (void)

void	CleanupInternal (void)

void	StartInternal (void)

Protected Member Functions inherited from mtsTask
void	RunEventHandler (void)

void	ChangeStateEventHandler (const mtsComponentState &newState)

mtsExecutionResult	RunEvent (bool check=true)

void	DoRunInternal (void)

void	Sleep (double timeInSeconds)

mtsStateIndex::TimeTicksType	GetTick (void) const

virtual void	SaveThreadStartData (void *data)

virtual void	SetThreadReturnValue (void *returnValue)

void	ChangeState (mtsComponentState::Enum newState)

bool	WaitForState (mtsComponentState desiredState, double timeout)

Protected Member Functions inherited from mtsComponent
	mtsComponent (void)

	mtsComponent (const mtsComponent &other)

void	Initialize (void)

mtsInterfaceRequired *	AddInterfaceRequiredExisting (const std::string &interfaceRequiredName, mtsInterfaceRequired *interfaceRequired)

mtsInterfaceRequired *	AddInterfaceRequiredUsingMailbox (const std::string &interfaceRequiredName, mtsMailBox *mailBox, mtsRequiredType required)

mtsInterfaceProvided *	AddInterfaceProvidedUsingMailbox (const std::string &interfaceProvidedName, mtsMailBox *mailBox)

mtsInterfaceInput *	AddInterfaceInputExisting (const std::string &interfaceInputName, mtsInterfaceInput *interfaceInput)

mtsInterfaceOutput *	AddInterfaceOutputExisting (const std::string &interfaceOutputName, mtsInterfaceOutput *interfaceOutput)

void	KillSeparateLogFile (void)

size_t	ProcessMailBoxes (InterfacesProvidedMapType &interfaces)

size_t	ProcessQueuedCommands (void)

size_t	ProcessQueuedEvents (void)

mtsInterfaceRequired *	EnableDynamicComponentManagement (void)
	Enable support for dynamic component management services. More...

bool	AddInterfaceInternal (const bool useMangerComponentServices=false)
	Add internal interfaces. More...

void	InterfaceInternalCommands_GetEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_AddObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_RemoveEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_RemoveObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_ComponentCreate (const mtsDescriptionComponent &componentDescription, bool &result)

void	InterfaceInternalCommands_ComponentStartOther (const mtsComponentStatusControl &arg)

Protected Attributes
struct {
mtsFunctionVoid EnablePower
	Enable Robot Power. More...

mtsFunctionVoid DisablePower

mtsFunctionRead GetEncoderChannelA

mtsFunctionRead GetActuatorAmpStatus

mtsFunctionWrite SetActuatorCurrent

mtsFunctionRead GetAnalogInputVolts

}	RobotIO

struct {
mtsFunctionWrite Status

mtsFunctionWrite Warning

mtsFunctionWrite Error

mtsFunctionWrite RobotState

}	MessageEvents

struct {
mtsFunctionRead GetValue

mtsFunctionWrite SetValue

}	MuxReset

struct {
mtsFunctionRead GetValue

mtsFunctionWrite SetValue

}	MuxIncrement

double	mMuxTimer

vctBoolVec	mMuxState

size_t	mMuxIndex

size_t	mMuxIndexExpected

struct {
mtsFunctionWrite EnablePWM

mtsFunctionWrite SetPWMDutyCycle

}	PWM

mtsIntuitiveResearchKitArmTypes::RobotStateType	mRobotState

double	mHomingTimer

bool	mHomingPowerRequested

double	mPreviousTic

vctDoubleVec	mBrakeCurrents

vctDynamicVector< vctDoubleVec >	mVoltageSamples

const size_t	mVoltageSamplesNumber

size_t	mVoltageSamplesCounter

vctDoubleVec	mVoltages

vctFixedSizeVector < mtsIntuitiveResearchKitSUJArmData *, 4 >	Arms

Protected Attributes inherited from mtsTaskPeriodic
osaThreadBuddy	ThreadBuddy

double	Period

osaAbsoluteTime	AbsoluteTimePeriod

bool	IsHardRealTime

Protected Attributes inherited from mtsTaskContinuous
bool	NewThread

bool	CaptureThread

Protected Attributes inherited from mtsTask
osaThread	Thread

double	InitializationDelay

osaMutex	StateChange

osaThreadSignal	StateChangeSignal

mtsStateTable	StateTable

bool	OverranPeriod

void *	ThreadStartData

void *	ReturnValue

mtsCallableVoidBase *	InterfaceProvidedToManagerCallable

mtsInterfaceRequired *	ExecIn

mtsInterfaceProvided *	ExecOut

mtsFunctionVoid	RunEventInternal

bool	RunEventCalled

mtsFunctionWrite	ChangeStateEvent

Protected Attributes inherited from mtsComponent
std::string	Name

mtsComponentState	State

mtsInterfaceProvided *	InterfaceProvidedToManager

bool	UseSeparateLogFileFlag

cmnLogger::StreamBufType *	LoDMultiplexerStreambuf

std::ofstream *	LogFile

StateTableMapType	StateTables

mtsManagerComponentServices *	ManagerComponentServices

mtsFunctionWrite	EventGeneratorChangeState

bool	ReplayMode

InterfacesProvidedMapType	InterfacesProvided

InterfacesOutputMapType	InterfacesOutput

InterfacesRequiredMapType	InterfacesRequired

InterfacesInputMapType	InterfacesInput

Additional Inherited Members
Public Types inherited from mtsTaskPeriodic
typedef mtsTaskContinuous	BaseType

Public Types inherited from mtsTaskContinuous
typedef mtsTask	BaseType

Public Types inherited from mtsTask
typedef mtsComponent	BaseType

Public Types inherited from mtsComponent
typedef mtsComponent	ThisType

Protected Types inherited from mtsComponent
typedef cmnNamedMap < mtsStateTable >	StateTableMapType

typedef cmnNamedMap < mtsInterfaceProvided >	InterfacesProvidedMapType

typedef cmnNamedMap < mtsInterfaceOutput >	InterfacesOutputMapType

typedef cmnNamedMap < mtsInterfaceRequired >	InterfacesRequiredMapType

typedef cmnNamedMap < mtsInterfaceInput >	InterfacesInputMapType

Constructor & Destructor Documentation

mtsIntuitiveResearchKitSUJ::mtsIntuitiveResearchKitSUJ	(	const std::string &	componentName,
		const double	periodInSeconds
	)

mtsIntuitiveResearchKitSUJ::mtsIntuitiveResearchKitSUJ ( const mtsTaskPeriodicConstructorArg & arg )

mtsIntuitiveResearchKitSUJ::~mtsIntuitiveResearchKitSUJ ( )

inline

Member Function Documentation

void mtsIntuitiveResearchKitSUJ::Cleanup ( void )

virtual

Virtual method that gets overloaded, and is run after the component gets killed using Kill() method.

Reimplemented from mtsComponent.

void mtsIntuitiveResearchKitSUJ::Configure ( const std::string & filename )

virtual

The virtual method so that the interface or tasks can configure themselves

Reimplemented from mtsComponent.

void mtsIntuitiveResearchKitSUJ::DispatchError ( const std::string & message )

protected

void mtsIntuitiveResearchKitSUJ::DispatchStatus ( const std::string & message )

protected

void mtsIntuitiveResearchKitSUJ::ErrorEventHandler ( const std::string & message )

protected

Event handler for PID errors.

void mtsIntuitiveResearchKitSUJ::GetAndConvertPotentiometerValues ( void )

protected

Logic used to read the potentiometer values and updated the appropriate joint values based on the mux state.

void mtsIntuitiveResearchKitSUJ::GetRobotControlState ( std::string & state ) const

protected

Convert enum to string using function provided by cisstDataGenerator.

void mtsIntuitiveResearchKitSUJ::GetRobotData ( void )

protected

Get data from the PID level based on current state.

void mtsIntuitiveResearchKitSUJ::Init ( void )

protected

void mtsIntuitiveResearchKitSUJ::MotorDownEventHandler ( const prmEventButton & button )

protected

Motor down button.

void mtsIntuitiveResearchKitSUJ::MotorUpEventHandler ( const prmEventButton & button )

protected

Motor up button.

void mtsIntuitiveResearchKitSUJ::Run ( void )

virtual

Pure virtual method that gets overloaded to run the actual task.

Implements mtsTask.

void mtsIntuitiveResearchKitSUJ::RunHoming ( void )

protected

Homing procedure, will check the homing state and call the required method.

void mtsIntuitiveResearchKitSUJ::RunHomingPower ( void )

protected

Homing procedure, power the robot and initial current and encoder calibration.

void mtsIntuitiveResearchKitSUJ::RunReady ( void )

protected

Normal operations.

void mtsIntuitiveResearchKitSUJ::SetBaseFrame ( const prmPositionCartesianGet & newBaseFrame )

protected

Set base coordinate frame, this will be added to the kinematics of all SUJs except ECM.

void mtsIntuitiveResearchKitSUJ::SetLiftVelocity ( const double & velocity )

protected

Set velocity for motorized PSM lift. normalized between -1.0 and 1.0.

void mtsIntuitiveResearchKitSUJ::SetRobotControlState ( const std::string & state )

protected

void mtsIntuitiveResearchKitSUJ::SetState ( const mtsIntuitiveResearchKitArmTypes::RobotStateType & newState )

protected

Verify that the state transition is possible, initialize global variables for the desired state and finally set the state.

void mtsIntuitiveResearchKitSUJ::Startup ( void )

virtual

Virtual method that gets overloaded, and is run before the component is started.

Reimplemented from mtsComponent.

Member Data Documentation

vctFixedSizeVector<mtsIntuitiveResearchKitSUJArmData *, 4> mtsIntuitiveResearchKitSUJ::Arms

protected

mtsFunctionVoid mtsIntuitiveResearchKitSUJ::DisablePower

mtsFunctionVoid mtsIntuitiveResearchKitSUJ::EnablePower

Enable Robot Power.

mtsFunctionWrite mtsIntuitiveResearchKitSUJ::EnablePWM

mtsFunctionWrite mtsIntuitiveResearchKitSUJ::Error

mtsFunctionRead mtsIntuitiveResearchKitSUJ::GetActuatorAmpStatus

mtsFunctionRead mtsIntuitiveResearchKitSUJ::GetAnalogInputVolts

mtsFunctionRead mtsIntuitiveResearchKitSUJ::GetEncoderChannelA

mtsFunctionRead mtsIntuitiveResearchKitSUJ::GetValue

vctDoubleVec mtsIntuitiveResearchKitSUJ::mBrakeCurrents

protected

struct { ... } mtsIntuitiveResearchKitSUJ::MessageEvents

bool mtsIntuitiveResearchKitSUJ::mHomingPowerRequested

protected

double mtsIntuitiveResearchKitSUJ::mHomingTimer

protected

size_t mtsIntuitiveResearchKitSUJ::mMuxIndex

protected

size_t mtsIntuitiveResearchKitSUJ::mMuxIndexExpected

protected

vctBoolVec mtsIntuitiveResearchKitSUJ::mMuxState

protected

double mtsIntuitiveResearchKitSUJ::mMuxTimer

protected

double mtsIntuitiveResearchKitSUJ::mPreviousTic

protected

mtsIntuitiveResearchKitArmTypes::RobotStateType mtsIntuitiveResearchKitSUJ::mRobotState

protected

struct { ... } mtsIntuitiveResearchKitSUJ::MuxIncrement

struct { ... } mtsIntuitiveResearchKitSUJ::MuxReset

vctDoubleVec mtsIntuitiveResearchKitSUJ::mVoltages

protected

vctDynamicVector<vctDoubleVec> mtsIntuitiveResearchKitSUJ::mVoltageSamples

protected

size_t mtsIntuitiveResearchKitSUJ::mVoltageSamplesCounter

protected

const size_t mtsIntuitiveResearchKitSUJ::mVoltageSamplesNumber

protected

const size_t mtsIntuitiveResearchKitSUJ::NumberOfBrakes = 3

static

const size_t mtsIntuitiveResearchKitSUJ::NumberOfJoints = 4

static

struct { ... } mtsIntuitiveResearchKitSUJ::PWM

struct { ... } mtsIntuitiveResearchKitSUJ::RobotIO

mtsFunctionWrite mtsIntuitiveResearchKitSUJ::RobotState

mtsFunctionWrite mtsIntuitiveResearchKitSUJ::SetActuatorCurrent

mtsFunctionWrite mtsIntuitiveResearchKitSUJ::SetPWMDutyCycle

mtsFunctionWrite mtsIntuitiveResearchKitSUJ::SetValue

mtsFunctionWrite mtsIntuitiveResearchKitSUJ::Status

mtsFunctionWrite mtsIntuitiveResearchKitSUJ::Warning

The documentation for this class was generated from the following file:

/home/adeguet1/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/include/sawIntuitiveResearchKit/mtsIntuitiveResearchKitSUJ.h

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation