65 lines
1.5 KiB
C++
65 lines
1.5 KiB
C++
#ifndef ARM_DEFINE_H
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#define ARM_DEFINE_H
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#include "arm_action_define.h"
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#define MAX_ARM_GOAL_COUNT 16
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#define MAX_TRAJECTORY_HISTORY 64
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#define ARM_FOLLOWING_PERIOD (5e6) //ns == 5ms
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#define ARM_FOLLOWING_CHECKING_STEP (4)
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#define ARM_FOLLOWING_CHECKING (ARM_FOLLOWING_PERIOD * ARM_FOLLOWING_CHECKING_STEP) //ns == 20ms
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#define GET_FUNC_LINE_STR() \
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(std::string(__func__ ) + ":" + std::to_string(__LINE__))
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#define LEFT_ARM_IP_ADDRESS "192.168.2.2"
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#define RIGHT_ARM_IP_ADDRESS "192.168.2.18"
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#define ARM_IP_PORT (8080)
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#define TRAJECTORY_COMPLETE 1
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#define TRAJECTORY_ONGOING 0
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#define TRAJECTORY_ERROR -1
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/*typedef enum {
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ARM_COMMAND_TYPE_ANGLE_STEP_ON = 0,
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ARM_COMMAND_TYPE_POSE_STEP_ON,
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ARM_COMMAND_TYPE_ANGLE_DIRECT_MOVE,
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ARM_COMMAND_TYPE_POSE_DIRECT_MOVE,
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ARM_COMMAND_TYPE_ERR
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} ArmCommandTypeE;
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typedef enum {
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POSE_POSITION_X = 0,
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POSE_POSITION_Y,
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POSE_POSITION_Z,
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POSE_QUATERNION_X,
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POSE_QUATERNION_Y,
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POSE_QUATERNION_Z,
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POSE_QUATERNION_W,
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POSE_DIMENSION, // should be 7
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} PoseDimensionE;
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typedef enum {
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LEFT_ARM = 0,
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RIGHT_ARM,
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ARM_ID_ERR
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} ArmIdE;
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typedef enum {
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OK = 0,
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UNKNOWN_ERR = -1,
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ARM_NOW_FORCE_MOVING = -2,
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ARM_COLLISION = -3,
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ARM_AIM_CANNOT_REACH = -4,
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ARM_NOW_NO_GOAL = -5,
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ARM_GOAL_CANCELLED = -6,
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} ErrCodeE;*/
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typedef enum {
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GOAL_TYPE_MOVING = 0,
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GOAL_TYPE_STEPPING,
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GOAL_TYPE_POSE_STEPPING,
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GOAL_TYPE_ERROR
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} GoalTypeE;
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#endif // ARM_DEFINE_H
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