53 lines
1.2 KiB
C++
Executable File
53 lines
1.2 KiB
C++
Executable File
#ifndef CTRLCOMPONENTS_H
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#define CTRLCOMPONENTS_H
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#include <string>
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#include <iostream>
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#include "common/utilities/loop.h"
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#include "message/arm_common.h"
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#include "message/LowlevelCmd.h"
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#include "message/LowlevelState.h"
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#include "common/utilities/CSVTool.h"
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#include "model/ArmModel.h"
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#include "interface/IOUDP.h"
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#include "interface/IOROS.h"
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#include "control/armSDK.h"
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using namespace std;
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struct CtrlComponents{
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public:
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CtrlComponents(int argc, char**argv);
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~CtrlComponents();
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std::string armConfigPath;
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CmdPanel *cmdPanel;
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IOInterface *ioInter;
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Z1Model *armModel;
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CSVTool *stateCSV;
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SendCmd sendCmd; // cmd that receive from SDK
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RecvState recvState;// state that send to SDK
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//config
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double dt;
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bool *running;
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Control ctrl = Control::SDK;
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bool hasGripper;
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bool isCollisionOpen;
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double collisionTLimit;
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bool isPlot;
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int trajChoose = 1;
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size_t armType = 36;
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void geneObj();
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void writeData();
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private:
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void configProcess(int argc, char** argv);
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std::string ctrl_IP;
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uint ctrl_port;
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double _loadWeight;
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};
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#endif // CTRLCOMPONENTS_H
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