HLR  0.0.1
Classes | Public Member Functions | List of all members
HLR::Kinematics::RV2AJ::Driver Class Reference

Driver for the Mitsubishi RV2-AJ. More...

#include <Driver.hpp>

Collaboration diagram for HLR::Kinematics::RV2AJ::Driver:

Public Member Functions

 Driver (bool simulation, const std::optional< std::string > &serial_path=std::nullopt, bool debug=false)
 Constructor. More...
 
virtual ~Driver ()
 Destructor.
 
 Driver (const Driver &d)=delete
 Copy constructor, deleted. More...
 
 Driver (Driver &&d)=delete
 Move constructor, deleted. More...
 
Driveroperator= (const Driver &d)=delete
 Copy assignment operator, deleted. More...
 
Driveroperator= (Driver &&d)=delete
 Move assignment operator, deleted. More...
 
bool cont (HLR::RV2AJDriverContinue::Request &req, HLR::RV2AJDriverContinue::Response &res)
 Continue processing events in queue. More...
 
bool pause (HLR::RV2AJDriverPause::Request &req, HLR::RV2AJDriverPause::Response &res)
 Pause processing events in queue. More...
 
bool clear (HLR::RV2AJDriverClear::Request &req, HLR::RV2AJDriverClear::Response &res)
 Clears all to-be processed events in queue and stops current move. More...
 
bool queue_count (HLR::RV2AJDriverQueueCount::Request &req, HLR::RV2AJDriverQueueCount::Response &res)
 Returns the number of elements currently inside the queue. More...
 
bool queue_add (HLR::RV2AJDriverQueueAdd::Request &req, HLR::RV2AJDriverQueueAdd::Response &res)
 Add requested command to the queue if compliant. More...
 

Detailed Description

Driver for the Mitsubishi RV2-AJ.

Constructor & Destructor Documentation

HLR::Kinematics::RV2AJ::Driver::Driver ( bool  simulation,
const std::optional< std::string > &  serial_path = std::nullopt,
bool  debug = false 
)

Constructor.

Parameters
simulationenable simulation device
serial_pathpath to serial device, can be std::nullopt
debugtrue for dumping serial I/O to stdout
Exceptions
std::invalid_argumentno enabled devices to drive
HLR::Kinematics::RV2AJ::Driver::Driver ( const Driver d)
delete

Copy constructor, deleted.

Parameters
dDriver
HLR::Kinematics::RV2AJ::Driver::Driver ( Driver &&  d)
delete

Move constructor, deleted.

Parameters
dDriver

Member Function Documentation

bool HLR::Kinematics::RV2AJ::Driver::clear ( HLR::RV2AJDriverClear::Request &  req,
HLR::RV2AJDriverClear::Response &  res 
)

Clears all to-be processed events in queue and stops current move.

Parameters
reqRequest details, empty
resResponse details, empty
Returns
true when queue is cleared, always
bool HLR::Kinematics::RV2AJ::Driver::cont ( HLR::RV2AJDriverContinue::Request &  req,
HLR::RV2AJDriverContinue::Response &  res 
)

Continue processing events in queue.

Parameters
reqRequest details, empty
resResponse details, empty
Returns
true if paused, false otherwise
Driver& HLR::Kinematics::RV2AJ::Driver::operator= ( const Driver d)
delete

Copy assignment operator, deleted.

Parameters
dDriver
Returns
Driver
Driver& HLR::Kinematics::RV2AJ::Driver::operator= ( Driver &&  d)
delete

Move assignment operator, deleted.

Parameters
dDriver
Returns
Driver
bool HLR::Kinematics::RV2AJ::Driver::pause ( HLR::RV2AJDriverPause::Request &  req,
HLR::RV2AJDriverPause::Response &  res 
)

Pause processing events in queue.

Parameters
reqRequest details, empty
resResponse details, empty
Returns
true if not paused, false otherwise
bool HLR::Kinematics::RV2AJ::Driver::queue_add ( HLR::RV2AJDriverQueueAdd::Request &  req,
HLR::RV2AJDriverQueueAdd::Response &  res 
)

Add requested command to the queue if compliant.

Parameters
reqRequest details, containing angles and speed
resResponse details, empty
Returns
true when queued, false if invalid input or robot arm failing
bool HLR::Kinematics::RV2AJ::Driver::queue_count ( HLR::RV2AJDriverQueueCount::Request &  req,
HLR::RV2AJDriverQueueCount::Response &  res 
)

Returns the number of elements currently inside the queue.

Parameters
reqRequest details, empty
resResponse details, containing count
Returns
true when queue count is set in response, always

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