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[format] format the code file of xarm_api and xarm_controller
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@vimior
vimior committed Dec 22, 2023
1 parent ffebf21 commit 5c6ce05
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Showing 19 changed files with 3,278 additions and 3,290 deletions.
434 changes: 217 additions & 217 deletions xarm_api/include/xarm_api/xarm_driver.h
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196 changes: 98 additions & 98 deletions xarm_api/include/xarm_api/xarm_ros_client.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,116 +11,116 @@ namespace xarm_api
class XARM_API_PUBLIC XArmROSClient
{
public:
XArmROSClient();
void init(ros::NodeHandle& nh);
~XArmROSClient();
XArmROSClient();
void init(ros::NodeHandle& nh);
~XArmROSClient();

int motionEnable(short en);
int setState(short state);
int setMode(short mode);
int clearErr(void);
int getErr(void);
int setTCPOffset(const std::vector<float>& tcp_offset);
int setLoad(float mass, const std::vector<float>& center_of_mass);
int setServoJ(const std::vector<float>& joint_cmd);
int setServoCartisian(const std::vector<float>& cart_cmd);
int goHome(float jnt_vel_rad, float jnt_acc_rad=15);
int moveJoint(const std::vector<float>& joint_cmd, float jnt_vel_rad, float jnt_acc_rad=15);
int moveLine(const std::vector<float>& cart_cmd, float cart_vel_mm, float cart_acc_mm=500);
int moveLineB(int num_of_pnts, const std::vector<float> cart_cmds[], float cart_vel_mm, float cart_acc_mm=500, float radii=0);
int getGripperState(float *curr_pulse, int *curr_err);
int gripperConfig(float pulse_vel);
int gripperMove(float pulse);
int config_tool_modbus(int baud_rate, int time_out_ms);
int send_tool_modbus(unsigned char* data, int send_len, unsigned char* recv_data=NULL, int recv_len=0);
int motionEnable(short en);
int setState(short state);
int setMode(short mode);
int clearErr(void);
int getErr(void);
int setTCPOffset(const std::vector<float>& tcp_offset);
int setLoad(float mass, const std::vector<float>& center_of_mass);
int setServoJ(const std::vector<float>& joint_cmd);
int setServoCartisian(const std::vector<float>& cart_cmd);
int goHome(float jnt_vel_rad, float jnt_acc_rad=15);
int moveJoint(const std::vector<float>& joint_cmd, float jnt_vel_rad, float jnt_acc_rad=15);
int moveLine(const std::vector<float>& cart_cmd, float cart_vel_mm, float cart_acc_mm=500);
int moveLineB(int num_of_pnts, const std::vector<float> cart_cmds[], float cart_vel_mm, float cart_acc_mm=500, float radii=0);
int getGripperState(float *curr_pulse, int *curr_err);
int gripperConfig(float pulse_vel);
int gripperMove(float pulse);
int config_tool_modbus(int baud_rate, int time_out_ms);
int send_tool_modbus(unsigned char* data, int send_len, unsigned char* recv_data=NULL, int recv_len=0);

int veloMoveJoint(const std::vector<float>& jnt_v, bool is_sync = true, float duration = -1.0);
int veloMoveLine(const std::vector<float>& line_v, bool is_tool_coord = false, float duration = -1.0);
int veloMoveJoint(const std::vector<float>& jnt_v, bool is_sync = true, float duration = -1.0);
int veloMoveLine(const std::vector<float>& line_v, bool is_tool_coord = false, float duration = -1.0);

int trajRecord(short on);
int trajSave(std::string filename, float timeout = 10);
int trajPlay(std::string filename, int times = 1, int double_speed = 1, bool wait = false);
int trajRecord(short on);
int trajSave(std::string filename, float timeout = 10);
int trajPlay(std::string filename, int times = 1, int double_speed = 1, bool wait = false);

int setCollisionRebound(bool on);
int setCollSens(int sens);
int setTeachSens(int sens);
int setCollisionRebound(bool on);
int setCollSens(int sens);
int setTeachSens(int sens);

int setWorldOffset(const std::vector<float>& world_offset);
int setFenceMode(bool on);
int setReducedMode(bool on);
int setTcpJerk(float jerk);
int setJointJerk(float jerk);
int setTcpMaxAcc(float maxacc);
int setJointMaxAcc(float maxacc);
int getServoAngle(std::vector<float>& angles);
int getPositionRPY(std::vector<float>& pos);
int getPositionAxisAngle(std::vector<float>& pos);
int setWorldOffset(const std::vector<float>& world_offset);
int setFenceMode(bool on);
int setReducedMode(bool on);
int setTcpJerk(float jerk);
int setJointJerk(float jerk);
int setTcpMaxAcc(float maxacc);
int setJointMaxAcc(float maxacc);
int getServoAngle(std::vector<float>& angles);
int getPositionRPY(std::vector<float>& pos);
int getPositionAxisAngle(std::vector<float>& pos);

private:
template<typename ServiceSrv>
int _call_service(ros::ServiceClient &client, ServiceSrv &srv);
template<typename ServiceSrv>
int _call_service(ros::ServiceClient &client, ServiceSrv &srv);

private:
ros::ServiceClient motion_ctrl_client_;
ros::ServiceClient set_mode_client_;
ros::ServiceClient set_state_client_;
ros::ServiceClient go_home_client_;
ros::ServiceClient move_lineb_client_;
ros::ServiceClient move_servoj_client_;
ros::ServiceClient move_servo_cart_client_;
ros::ServiceClient move_line_client_;
ros::ServiceClient move_joint_client_;
ros::ServiceClient set_tcp_offset_client_;
ros::ServiceClient set_load_client_;
ros::ServiceClient clear_err_client_;
ros::ServiceClient get_err_client_;
ros::ServiceClient config_modbus_client_;
ros::ServiceClient send_modbus_client_;
ros::ServiceClient gripper_move_client_;
ros::ServiceClient gripper_config_client_;
ros::ServiceClient gripper_state_client_;
ros::ServiceClient velo_move_joint_client_;
ros::ServiceClient velo_move_line_client_;
ros::ServiceClient traj_record_client_;
ros::ServiceClient traj_save_client_;
ros::ServiceClient traj_play_client_;
ros::ServiceClient set_coll_rebound_client_;
ros::ServiceClient set_coll_sens_client_;
ros::ServiceClient set_teach_sens_client_;
ros::ServiceClient motion_ctrl_client_;
ros::ServiceClient set_mode_client_;
ros::ServiceClient set_state_client_;
ros::ServiceClient go_home_client_;
ros::ServiceClient move_lineb_client_;
ros::ServiceClient move_servoj_client_;
ros::ServiceClient move_servo_cart_client_;
ros::ServiceClient move_line_client_;
ros::ServiceClient move_joint_client_;
ros::ServiceClient set_tcp_offset_client_;
ros::ServiceClient set_load_client_;
ros::ServiceClient clear_err_client_;
ros::ServiceClient get_err_client_;
ros::ServiceClient config_modbus_client_;
ros::ServiceClient send_modbus_client_;
ros::ServiceClient gripper_move_client_;
ros::ServiceClient gripper_config_client_;
ros::ServiceClient gripper_state_client_;
ros::ServiceClient velo_move_joint_client_;
ros::ServiceClient velo_move_line_client_;
ros::ServiceClient traj_record_client_;
ros::ServiceClient traj_save_client_;
ros::ServiceClient traj_play_client_;
ros::ServiceClient set_coll_rebound_client_;
ros::ServiceClient set_coll_sens_client_;
ros::ServiceClient set_teach_sens_client_;

ros::ServiceClient set_world_offset_client_;
ros::ServiceClient set_fence_mode_client_;
ros::ServiceClient set_reduced_mode_client_;
ros::ServiceClient set_tcp_jerk_client_;
ros::ServiceClient set_joint_jerk_client_;
ros::ServiceClient set_tcp_maxacc_client_;
ros::ServiceClient set_joint_maxacc_client_;
ros::ServiceClient get_servo_angle_client_;
ros::ServiceClient get_position_rpy_client_;
ros::ServiceClient get_position_aa_client_;
ros::ServiceClient set_world_offset_client_;
ros::ServiceClient set_fence_mode_client_;
ros::ServiceClient set_reduced_mode_client_;
ros::ServiceClient set_tcp_jerk_client_;
ros::ServiceClient set_joint_jerk_client_;
ros::ServiceClient set_tcp_maxacc_client_;
ros::ServiceClient set_joint_maxacc_client_;
ros::ServiceClient get_servo_angle_client_;
ros::ServiceClient get_position_rpy_client_;
ros::ServiceClient get_position_aa_client_;

xarm_msgs::SetAxis set_axis_srv_;
xarm_msgs::SetInt16 set_int16_srv_;
xarm_msgs::TCPOffset offset_srv_;
xarm_msgs::SetLoad set_load_srv_;
xarm_msgs::ClearErr clear_err_srv_;
xarm_msgs::GetErr get_err_srv_;
xarm_msgs::Move move_srv_;
xarm_msgs::Move servoj_msg_;
xarm_msgs::Move servo_cart_msg_;
xarm_msgs::ConfigToolModbus cfg_modbus_msg_;
xarm_msgs::SetToolModbus set_modbus_msg_;
xarm_msgs::GripperConfig gripper_config_msg_;
xarm_msgs::GripperMove gripper_move_msg_;
xarm_msgs::GripperState gripper_state_msg_;
xarm_msgs::MoveVelocity move_velo_srv_;
xarm_msgs::SetString set_string_srv_;
xarm_msgs::PlayTraj play_traj_srv_;
xarm_msgs::SetFloat32 set_float32_srv_;
xarm_msgs::GetFloat32List get_float32_list_srv_;
xarm_msgs::SetAxis set_axis_srv_;
xarm_msgs::SetInt16 set_int16_srv_;
xarm_msgs::TCPOffset offset_srv_;
xarm_msgs::SetLoad set_load_srv_;
xarm_msgs::ClearErr clear_err_srv_;
xarm_msgs::GetErr get_err_srv_;
xarm_msgs::Move move_srv_;
xarm_msgs::Move servoj_msg_;
xarm_msgs::Move servo_cart_msg_;
xarm_msgs::ConfigToolModbus cfg_modbus_msg_;
xarm_msgs::SetToolModbus set_modbus_msg_;
xarm_msgs::GripperConfig gripper_config_msg_;
xarm_msgs::GripperMove gripper_move_msg_;
xarm_msgs::GripperState gripper_state_msg_;
xarm_msgs::MoveVelocity move_velo_srv_;
xarm_msgs::SetString set_string_srv_;
xarm_msgs::PlayTraj play_traj_srv_;
xarm_msgs::SetFloat32 set_float32_srv_;
xarm_msgs::GetFloat32List get_float32_list_srv_;

ros::NodeHandle nh_;
ros::NodeHandle nh_;
};

}
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