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uarm_example.cc
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uarm_example.cc
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/*
* \file example/uarm_example.cc
# Software License Agreement (MIT License)
#
# Copyright (c) 2018, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
*/
#include <string>
#include <iostream>
#include <cstdio>
#include "uarm/uarm.h"
using std::string;
using std::exception;
using std::cout;
using std::cerr;
using std::endl;
using std::vector;
/*
using uarm::Swift;
using uarm::Timeout;
using uarm::PortInfo;
using uarm::list_ports;
*/
using namespace uarm;
void enumerate_ports()
{
vector<PortInfo> devices_found = list_ports();
vector<PortInfo>::iterator iter = devices_found.begin();
while (iter != devices_found.end())
{
PortInfo device = *iter++;
cout << "port: " << device.port << ", desc: " << device.description << ", hardware_id: " << device.hardware_id << endl;
}
}
void async_callback(int ret) {
cout << "async callback: " << ret << endl;
}
void async_callback_str(std::string ret) {
cout << "async callback string: " << ret << endl;
}
void power_callback(bool power)
{
cout << "report power: " << power << endl;
}
void pos_report_callback(std::vector<float> pos)
{
cout << "report ";
for (uint8_t i = 0; i < pos.size(); i++) {
cout << "pos[" << std::to_string(i) << "]=" << pos[i];
if (i != pos.size() - 1)
cout << ", ";
else
cout << endl;
}
}
void key0_report_callback(int value)
{
cout << "report key0: " << value << endl;
}
void key1_report_callback(int value)
{
cout << "report key1: " << value << endl;
}
void limit_switch_callback(bool status)
{
cout << "report limit switch: " << status << endl;
}
void test_register_callback(Swift *swift) {
swift->register_power_callback(power_callback);
swift->register_report_position_callback(pos_report_callback);
swift->register_key0_callback(key0_report_callback);
swift->register_key1_callback(key1_report_callback);
swift->register_limit_switch_callback(limit_switch_callback);
while (!swift->power_status) {
int value = swift->get_power_status();
cout << "get_power_status: " << value << endl;
if (!swift->power_status) {
sleep_milliseconds(500);
}
}
int ret = swift->set_report_position(1);
cout << "set_report_position: " << ret << endl;
ret = swift->set_report_keys(true);
cout << "set_report_keys: " << ret << endl;;
}
void test_send_cmd(Swift *swift) {
std::string ret = swift->send_cmd_sync("G0 X200 Y0 Z90 F100000", 10);
cout << "send_cmd_sync ret: " << ret << endl;
ret = swift->send_cmd_async("G0 X200 Y100 Z90 F100000", 10, async_callback_str);
// cout << "send_cmd_async ret: " << ret << endl;
ret = swift->send_cmd_sync("G0 X200 Y0 Z90 F100000", 10);
cout << "send_cmd_sync ret: " << ret << endl;
}
void test_attack_detach(Swift *swift) {
int ret = swift->set_servo_detach(0);
cout << "set_servo_detach(0) ret: " << ret << endl;
sleep_milliseconds(2000);
ret = swift->set_servo_detach(1);
cout << "set_servo_detach(1) ret: " << ret << endl;
sleep_milliseconds(2000);
ret = swift->set_servo_detach(2);
cout << "set_servo_detach(2) ret: " << ret << endl;
sleep_milliseconds(2000);
ret = swift->set_servo_attach(0);
cout << "set_servo_attach(0) ret: " << ret << endl;
sleep_milliseconds(2000);
ret = swift->set_servo_attach(1);
cout << "set_servo_attach(1) ret: " << ret << endl;
sleep_milliseconds(2000);
ret = swift->set_servo_attach(2);
cout << "set_servo_attach(2) ret: " << ret << endl;
sleep_milliseconds(2000);
ret = swift->set_servo_detach(-1);
cout << "set_servo_detach(ALL) ret: " << ret << endl;
sleep_milliseconds(2000);
ret = swift->set_servo_attach(-1);
cout << "set_servo_attach(ALL) ret: " << ret << endl;
}
void test_move(Swift *swift) {
swift->reset();
swift->flush_cmd();
int ret = swift->set_position(200, -100, 80, 10000, false, false, 2, async_callback);
ret = swift->set_position(250, 100, 120, 10000, false, true, 10);
cout << "set_position ret: " << ret << endl;
swift->set_polar(200, 0, 80, 10000, false, false, 10, async_callback);
swift->set_polar(250, 30, 120, 10000, false, true, 10);
cout << "set_polar ret: " << ret << endl;
ret = swift->set_servo_angle(0, 120, 10000, false, 10, async_callback);
ret = swift->set_servo_angle(1, 120, 10000, true);
cout << "set_servo_angle ret: " << ret << endl;
swift->flush_cmd();
ret = swift->set_position(200, 0, 150, 5000, false, false, 30, async_callback);
swift->flush_cmd();
//cout << "set_position ret: " << ret << endl;
ret = swift->set_position(200, 100, 80, 5000, false, false, 30, async_callback);
swift->flush_cmd();
//cout << "set_position ret: " << ret << endl;
ret = swift->set_position(200, -100, 80, 5000, false, false, 30, async_callback);
swift->flush_cmd();
//cout << "set_position ret: " << ret << endl;
ret = swift->set_position(200, 100, 80, 5000, false, false, 30, async_callback);
swift->flush_cmd();
//cout << "set_position ret: " << ret << endl;
ret = swift->set_position(200, 0, 150, 5000, false, true, 10, async_callback);
cout << "set_position ret: " << ret << endl;
}
void test_pump_gripper(Swift *swift) {
int ret = swift->set_pump(true);
cout << "set_pump(true) ret: " << ret << endl;
sleep_milliseconds(2000);
ret = swift->set_pump(false);
cout << "set_pump(false) ret: " << ret << endl;
ret = swift->set_gripper(true);
cout << "set_gripper(true) ret: " << ret << endl;
sleep_milliseconds(2000);
ret = swift->set_gripper(false);
cout << "set_gripper(false) ret: " << ret << endl;
}
void test_buzzer(Swift *swift) {
int ret = swift->set_buzzer(1000, 2, true);
cout << "set_buzzer ret: " << ret << endl;
sleep_milliseconds(2000);
ret = swift->set_buzzer(1500, 2, false, 2, async_callback);
}
void async_callback_pos(std::vector<float> pos) {
cout << "async_callback_pos: ";
for (uint8_t i = 0; i < pos.size(); i++) {
cout << "pos[" << std::to_string(i) << "]=" << pos[i];
if (i != pos.size() - 1)
cout << ", ";
else
cout << endl;
}
}
void async_callback_polar(std::vector<float> pos) {
cout << "async_callback_polar: ";
for (uint8_t i = 0; i < pos.size(); i++) {
cout << "pos[" << std::to_string(i) << "]=" << pos[i];
if (i != pos.size() - 1)
cout << ", ";
else
cout << endl;
}
}
void async_callback_angles(std::vector<float> pos) {
cout << "async_callback_angles: ";
for (uint8_t i = 0; i < pos.size(); i++) {
cout << "angle[" << std::to_string(i) << "]=" << pos[i];
if (i != pos.size() - 1)
cout << ", ";
else
cout << endl;
}
}
void async_callback_get(int value) {
cout << "async_callback_get: " << value << endl;
}
void test_get(Swift *swift) {
swift->get_position(false, 2, async_callback_pos);
std::vector<float> pos = swift->get_position(true, 2);
cout << "get_position: ";
for (uint8_t i = 0; i < pos.size(); i++) {
cout << "pos[" << std::to_string(i) << "]=" << pos[i];
if (i != pos.size() - 1)
cout << ", ";
else
cout << endl;
}
swift->get_polar(false, 2, async_callback_polar);
pos = swift->get_polar(true, 2);
cout << "get_polar: ";
for (uint8_t i = 0; i < pos.size(); i++) {
cout << "polar[" << std::to_string(i) << "]=" << pos[i];
if (i != pos.size() - 1)
cout << ", ";
else
cout << endl;
}
swift->get_servo_angle(false, 2, async_callback_angles);
pos = swift->get_servo_angle(true, 2);
cout << "get_servo_angle: ";
for (uint8_t i = 0; i < pos.size(); i++) {
cout << "angle[" << std::to_string(i) << "]=" << pos[i];
if (i != pos.size() - 1)
cout << ", ";
else
cout << endl;
}
swift->get_power_status(false, 2, async_callback_get);
int value = swift->get_power_status();
cout << "get_power_status: " << value << endl;
swift->get_mode(false, 2, async_callback_get);
value = swift->get_mode();
cout << "get_mode: " << value << endl;
swift->get_servo_attach(0, false, 2, async_callback_get);
value = swift->get_servo_attach(0);
cout << "get_servo_attach: " << value << endl;
swift->get_limit_switch(false, 2, async_callback_get);
value = swift->get_limit_switch();
cout << "get_limit_switch: " << value << endl;
swift->get_gripper_catch(false, 2, async_callback_get);
value = swift->get_gripper_catch();
cout << "get_gripper_catch: " << value << endl;
swift->get_pump_status(false, 2, async_callback_get);
value = swift->get_pump_status();
cout << "get_pump_status: " << value << endl;
std::string *info = swift->get_device_info();
cout << "device_type: " << info[0] << endl;
cout << "hardware_version: " << info[1] << endl;
cout << "firmware_version: " << info[2] << endl;
cout << "api_version: " << info[3] << endl;
cout << "device_unique: " << info[4] << endl;
}
int main(int argc, char **argv) {
/*
serial::Serial ser;
ser.setPort("COM12");
ser.setBaudrate(115200);
ser.setTimeout(serial::Timeout::simpleTimeout(1000));
ser.open();
*/
if (argc < 2) {
// Print usage
cout << "Usage: test_uarm [-e | {<serial port address>} [register | cmd | attach | detach | move | pump | gripper | buzzer | all]]" << endl;
return -1;
}
std::string arg1(argv[1]);
std::string port = "";
std::string type;
if (argc == 2) {
if (arg1 == "-e") {
enumerate_ports();
return 0;
}
else {
type = arg1;
}
}
else if (argc >= 3) {
std::string arg2(argv[2]);
port = arg1;
type = arg2;
}
Swift swift(port);
if (!swift.connected) {
return -2;
}
// sleep_milliseconds(1000);
if (swift.get_power_status() <= 0) {
sleep_milliseconds(500);
}
if (type == "all" || type == "register") {
test_register_callback(&swift);
}
while (!swift.power_status) {
int value = swift.get_power_status();
cout << "get_power_status: " << value << endl;
if (!swift.power_status) {
sleep_milliseconds(500);
}
}
if (type == "all" || type == "cmd") {
test_send_cmd(&swift);
sleep_milliseconds(2000);
}
if (type == "all" || type == "attach" || type == "detach") {
test_attack_detach(&swift);
sleep_milliseconds(2000);
}
if (type == "all" || type == "pump" || type == "gripper") {
test_pump_gripper(&swift);
sleep_milliseconds(2000);
}
if (type == "all" || type == "move") {
test_move(&swift);
sleep_milliseconds(2000);
}
if (type == "all" || type == "buzzer") {
test_buzzer(&swift);
sleep_milliseconds(2000);
}
if (type == "all" || type == "get") {
test_get(&swift);
sleep_milliseconds(2000);
}
while (1) {
sleep_milliseconds(500);
}
return 0;
}