haptix.h

Go to the documentation of this file.

/*
 * Copyright (C) 2014-2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/


#ifndef __HAPTIX_API_HAPTIX_H__
#define __HAPTIX_API_HAPTIX_H__

#ifdef __cplusplus
extern "C" {
#endif

// ---------- constants ----------

#define hxMAXMOTOR              32

#define hxMAXJOINT              32

#define hxMAXCONTACTSENSOR      32

#define hxMAXIMU                32

typedef enum
{
  hxOK = 0,
  hxERROR
} hxResult;

// ---------- data structures ----------

struct _hxTime
{
  int sec;

  int nsec;
};

typedef struct _hxTime hxTime;

struct _hxRobotInfo
{
  int motor_count;

  int joint_count;

  int contact_sensor_count;

  int imu_count;

  float motor_limit[hxMAXMOTOR][2];

  float joint_limit[hxMAXJOINT][2];

  float update_rate;
};

typedef struct _hxRobotInfo hxRobotInfo;

struct _hxSensor
{
  hxTime time_stamp;

  float motor_pos[hxMAXMOTOR];

  float motor_vel[hxMAXMOTOR];

  float motor_torque[hxMAXMOTOR];

  float joint_pos[hxMAXJOINT];

  float joint_vel[hxMAXJOINT];

  float contact[hxMAXCONTACTSENSOR];

  float imu_linear_acc[hxMAXIMU][3];

  float imu_angular_vel[hxMAXIMU][3];

  float imu_orientation[hxMAXIMU][4];
};

typedef struct _hxSensor hxSensor;

struct _hxCommand
{
  float ref_pos[hxMAXMOTOR];

  int ref_pos_enabled;

  float ref_vel_max[hxMAXMOTOR];

  int ref_vel_max_enabled;

  float gain_pos[hxMAXMOTOR];

  int gain_pos_enabled;

  float gain_vel[hxMAXMOTOR];

  int gain_vel_enabled;
};

typedef struct _hxCommand hxCommand;

// ---------- API functions ----------

hxResult hx_connect(const char *_host, int _port);

hxResult hx_close();

hxResult hx_robot_info(hxRobotInfo *_robotinfo);

hxResult hx_update(const hxCommand *_command, hxSensor *_sensor);

hxResult hx_read_sensors(hxSensor *_sensor);

const char *hx_last_result();

#ifdef __cplusplus
}
#endif
#endif