ManipulatorCommonInterface_Common.idl

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/*
  Manipulator Common Interface (Common Commands)
    - This IDL is used as service port on RTC
    - This command specification is provided by Intelligent RT Software
  Project of JARA.
  rev. 20140205
*/

#ifndef MANIPULATORCOMMONINTERFACE_COMMON_IDL
#define MANIPULATORCOMMONINTERFACE_COMMON_IDL

#include "ManipulatorCommonInterface_DataTypes.idl"

module JARA_ARM {

  enum AlarmType {
    FAULT,
    WARNING,
    UNKNOWN
  };

  struct Alarm {
    unsigned long code;
    AlarmType type;
    string description;
  };

  typedef sequence<Alarm> AlarmSeq;
  typedef sequence<LimitValue> LimitSeq;

  struct ManipInfo {
    string manufactur;
    string type;
    ULONG axisNum;
    ULONG cmdCycle;
    boolean isGripper;
  };

  const ULONG CONST_BINARY_00000001 = 0x01; //isServoOn
  const ULONG CONST_BINARY_00000010 = 0x02; //isMoving
  const ULONG CONST_BINARY_00000100 = 0x04; //isAlarmed
  const ULONG CONST_BINARY_00001000 = 0x08; //isBufferFull

  interface ManipulatorCommonInterface_Common {
    RETURN_ID clearAlarms();
    RETURN_ID getActiveAlarm(out AlarmSeq alarms);
    RETURN_ID getFeedbackPosJoint(out JointPos pos);
    RETURN_ID getManipInfo(out ManipInfo mInfo);
    RETURN_ID getSoftLimitJoint(out LimitSeq softLimit);
    RETURN_ID getState(out ULONG state);
    RETURN_ID servoOFF();
    RETURN_ID servoON();
    RETURN_ID setSoftLimitJoint(in LimitSeq softLimit);
  };
};

#endif // MANIPULATORCOMMONINTERFACE_COMMON_IDL