HLR::Kinematics::RobotController Class Reference

This class contains the main logic of the robotic arm. It handles the calculation of robotic path and handles moving the robot arm using the driver. More...

#include <RobotController.hpp>

Collaboration diagram for HLR::Kinematics::RobotController:

Public Types
enum	Event {   Event::move_to_ready, Event::move_to_cup, Event::pick_up_cup_stage1, Event::pick_up_cup_stage2,   Event::move_cup, Event::move_stop, Event::move_continue, Event::move_cancel,   Event::terminate }
	Internal event class. These events are send to the worker thread and handled accordingly. More...

Public Member Functions
	RobotController (RobotDriverHandler &driver)
	Constructor. More...
virtual	~RobotController ()
	Destructor.
	RobotController (const RobotController &rc)=delete
	Copy constructor, deleted. More...
	RobotController (RobotController &&rc)=delete
	Move constructor, deleted. More...
RobotController &	operator= (const RobotController &rc)=delete
	Copy assignment operator, deleted. More...
RobotController &	operator= (RobotController &&rc)=delete
	Move assignment operator, deleted. More...
RobotControllerState	get_state () const
	Get the controller state. More...
void	pick_up_cup (std::uint32_t id)
	Pick up the cup specfied by id. The specifed error callback is fired if anything goes wrong during the move operation. More...
void	move_stop ()
	Stop the current action. This pauses the current robot arm. More...
void	move_continue ()
	Continue the action of the robotarm when it is stopped. More...
void	move_cancel ()
	Cancel the action of the robotarm this reverses any action the robotarm was doing. More...
void	remove_object (const EnvironmentObject &obj)
	Remove the object with the specified if from the internal environment. More...
void	add_object (EnvironmentObject &&obj)
	Add object to the internal environment. More...
void	set_error_callback (const std::function< void(ArmError)> &cb)
	Set the callback that is called when the robotarm cannot accomplish the path. This can happen When there is no possible path to the target. Or the emergency stop was called due to safety concerns. Once this callback is fired the arm will be in the stopped state and can be reenabled by using move_continue. More...

Detailed Description

This class contains the main logic of the robotic arm. It handles the calculation of robotic path and handles moving the robot arm using the driver.

Member Enumeration Documentation

enum HLR::Kinematics::RobotController::Event

strong

Internal event class. These events are send to the worker thread and handled accordingly.

Enumerator
move_to_ready	Move the arm to the ready position.
move_to_cup	Robot arm should pick up a cup.
pick_up_cup_stage1	Move the gripper to surround the cup.
pick_up_cup_stage2	Move the arm vertical upwards to grab the cup.
move_cup	move the cup toward the end position.
move_stop	Current action should be stopped. This means robot arm will stop.
move_continue	The previously stopped action should be resumed.
move_cancel	The current action should be cancelled. This will move the arm.
terminate	The controller has to terminate.

Constructor & Destructor Documentation

HLR::Kinematics::RobotController::RobotController

(

RobotDriverHandler &

driver

)

Constructor.

Parameters

driver

The driver to inject.

HLR::Kinematics::RobotController::RobotController ( const RobotController &  rc )

delete

Copy constructor, deleted.

Parameters

rc

HLR::Kinematics::RobotController::RobotController ( RobotController &&  rc )

delete

Move constructor, deleted.

Parameters

rc

Member Function Documentation

void HLR::Kinematics::RobotController::add_object

(

EnvironmentObject &&

obj

)

Add object to the internal environment.

Parameters

obj	The object to add.

RobotControllerState HLR::Kinematics::RobotController::get_state

(

)

const

Get the controller state.

Returns

The current state.

void HLR::Kinematics::RobotController::move_cancel

(

)

Cancel the action of the robotarm this reverses any action the robotarm was doing.

Exceptions

std::logic_error

If the robotarm is not currently performing a move and isn't stopped.

void HLR::Kinematics::RobotController::move_continue

(

)

Continue the action of the robotarm when it is stopped.

Exceptions

std::logic_error

If the robot is not currently stopped.

void HLR::Kinematics::RobotController::move_stop

(

)

Stop the current action. This pauses the current robot arm.

Exceptions

std::logic_error

If the robot is not currently moving.

RobotController& HLR::Kinematics::RobotController::operator= ( const RobotController &  rc )

delete

Copy assignment operator, deleted.

Parameters

rc

Returns

RobotController& HLR::Kinematics::RobotController::operator= ( RobotController &&  rc )

delete

Move assignment operator, deleted.

Parameters

rc

Returns

void HLR::Kinematics::RobotController::pick_up_cup

(

std::uint32_t

id

)

Pick up the cup specfied by id. The specifed error callback is fired if anything goes wrong during the move operation.

Exceptions

std::invalid_argument	If the cup is not found.
std::logic_error	If the robot is currently allready performing an action.

Parameters

id	The id of the cup to pick up.

void HLR::Kinematics::RobotController::remove_object

(

const EnvironmentObject &

obj

)

Remove the object with the specified if from the internal environment.

Parameters

obj	The object to remove.

void HLR::Kinematics::RobotController::set_error_callback

(

const std::function< void(ArmError)> &

cb

)

Set the callback that is called when the robotarm cannot accomplish the path. This can happen When there is no possible path to the target. Or the emergency stop was called due to safety concerns. Once this callback is fired the arm will be in the stopped state and can be reenabled by using move_continue.

Parameters

cb	The callback that will be called on error.

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

• src/Kinematics/RobotController.hpp