UniversalRobotsDashboard.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_HAL_UNIVERSALROBOTSDASHBOARD_H
#define RL_HAL_UNIVERSALROBOTSDASHBOARD_H
 
#include <string>
#include <utility>
 
#include "Com.h"
#include "Socket.h"
 
namespace rl
{
    namespace hal
    {
        class UniversalRobotsDashboard : public Com
        {
        public:
            enum ProgramState
            {
                PROGRAM_STATE_STOPPED,
                PROGRAM_STATE_PLAYING,
                PROGRAM_STATE_PAUSED
            };
            
            enum RobotMode
            {
                ROBOT_MODE_NO_CONTROLLER,
                ROBOT_MODE_DISCONNECTED,
                ROBOT_MODE_CONFIRM_SAFETY,
                ROBOT_MODE_BOOTING,
                ROBOT_MODE_POWER_OFF,
                ROBOT_MODE_POWER_ON,
                ROBOT_MODE_IDLE,
                ROBOT_MODE_BACKDRIVE,
                ROBOT_MODE_RUNNING
            };
            
            enum SafetyMode
            {
                SAFETY_MODE_NORMAL,
                SAFETY_MODE_REDUCED,
                SAFETY_MODE_PROTECTIVE_STOP,
                SAFETY_MODE_RECOVERY,
                SAFETY_MODE_SAFEGUARD_STOP,
                SAFETY_MODE_SYSTEM_EMERGENCY_STOP,
                SAFETY_MODE_ROBOT_EMERGENCY_STOP,
                SAFETY_MODE_VIOLATION,
                SAFETY_MODE_FAULT
            };
            
            UniversalRobotsDashboard(const ::std::string& address);
            
            virtual ~UniversalRobotsDashboard();
            
            void close();
            
            void doAddToLog(const ::std::string& message);
            
            void doBrakeRelease();
            
            void doClosePopup();
            
            void doCloseSafetyPopup();
            
            ::std::string doGetLoadedProgram();
            
            ::std::pair<bool, ::std::string> doIsProgramSaved();
            
            void doLoad(const ::std::string& program);
            
            void doLoadInstallation(const ::std::string& installation);
            
            void doPause();
            
            void doPlay();
            
            ::std::string doPolyscopeVersion();
            
            void doPopup(const ::std::string& text);
            
            void doPowerOff();
            
            void doPowerOn();
            
            ::std::pair<ProgramState, ::std::string> doProgramState();
            
            RobotMode doRobotmode();
            
            bool doRunning();
            
            SafetyMode doSafetymode();
            
            void doShutdown();
            
            void doStop();
            
            void doQuit();
            
            void doUnlockProtectiveStop();
            
            void open();
            
        protected:
            
        private:
            void send(const ::std::string& command);
            
            Socket socket;
        };
    }
}
 
#endif // RL_HAL_UNIVERSALROBOTSDASHBOARD_H