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...
Driver &	operator= (const Driver &d)=delete
	Copy assignment operator, deleted. More...
Driver &	operator= (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

simulation	enable simulation device
serial_path	path to serial device, can be std::nullopt
debug	true for dumping serial I/O to stdout

Exceptions

std::invalid_argument

no enabled devices to drive

HLR::Kinematics::RV2AJ::Driver::Driver ( const Driver &  d )

delete

Copy constructor, deleted.

Parameters

d

Driver

HLR::Kinematics::RV2AJ::Driver::Driver ( Driver &&  d )

delete

Move constructor, deleted.

Parameters

d

Driver

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

req	Request details, empty
res	Response 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

req	Request details, empty
res	Response details, empty

Returns

true if paused, false otherwise

Driver& HLR::Kinematics::RV2AJ::Driver::operator= ( const Driver &  d )

delete

Copy assignment operator, deleted.

Parameters

d

Driver

Returns

Driver

Driver& HLR::Kinematics::RV2AJ::Driver::operator= ( Driver &&  d )

delete

Move assignment operator, deleted.

Parameters

d

Driver

Returns

Driver

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

Pause processing events in queue.

Parameters

req	Request details, empty
res	Response 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

req	Request details, containing angles and speed
res	Response 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

req	Request details, empty
res	Response details, containing count

Returns

true when queue count is set in response, always

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

• src/Kinematics/RV2AJ/Driver.hpp