From 1fe5cf25a96dbec1295fd33a55c28de58bd5aee1 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 5 Aug 2022 07:29:08 +0200
Subject: [PATCH] kinematic unit interface: new method to get all data at once
(to reduce number of required network calls)
---
.../units/KinematicUnitInterface.ice | 35 ++++++++++++++++++-
1 file changed, 34 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterface.ice b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
index 8b7a24356..3cc99f54c 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterface.ice
+++ b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
@@ -140,6 +140,24 @@ module armarx
/**
* Implements an interface to an KinematicUnit.
**/
+
+
+ struct DebugInfo
+ {
+ NameControlModeMap jointModes;
+
+ NameValueMap jointAngles;
+ NameValueMap jointVelocities;
+ NameValueMap jointAccelerations;
+
+ NameValueMap jointTorques;
+ NameValueMap jointCurrents;
+
+ NameValueMap jointMotorTemperatures;
+
+ NameStatusMap jointStatus;
+ };
+
interface KinematicUnitInterface extends SensorActorUnitInterface
{
/**
@@ -223,7 +241,23 @@ module armarx
* NYI
*/
//void set Trajectory(...);
+
+
+ /**
+ * @brief This is a 'all-in-one' function to retrieve all info that the kinematic unit can provide.
+ *
+ * This reduces the number of required network calls for, e.g., the KinematicUnitGui.
+ *
+ * @return
+ *
+ */
+ ["cpp:const"]
+ DebugInfo getDebugInfo();
};
+
+
+
+
/**
* Implements an interface to an KinematicUnitListener.
**/
@@ -303,4 +337,3 @@ module armarx
};*/
};
-
--
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