Добавлена реализация контроллера, для работы с физическим роботом

2025-11-21 16:32:53 +10:00
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+/**
+
+The following license terms and conditions apply, unless a redistribution
+agreement or other license is obtained by KUKA Deutschland GmbH, Augsburg, Germany.
+
+SCOPE
+
+The software “KUKA Sunrise.Connectivity FRI Client SDK” is targeted to work in
+conjunction with the “KUKA Sunrise.Connectivity FastRobotInterface” toolkit.
+In the following, the term “software” refers to all material directly
+belonging to the provided SDK “Software development kit”, particularly source
+code, libraries, binaries, manuals and technical documentation.
+
+COPYRIGHT
+
+All Rights Reserved
+Copyright (C)  2014-2018 
+KUKA Deutschland GmbH
+Augsburg, Germany
+
+LICENSE 
+
+Redistribution and use of the software in source and binary forms, with or
+without modification, are permitted provided that the following conditions are
+met:
+a) The software is used in conjunction with KUKA products only. 
+b) Redistributions of source code must retain the above copyright notice, this
+list of conditions and the disclaimer.
+c) Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the disclaimer in the documentation and/or other
+materials provided with the distribution. Altered source code of the
+redistribution must be made available upon request with the distribution.
+d) Modification and contributions to the original software provided by KUKA
+must be clearly marked and the authorship must be stated.
+e) Neither the name of KUKA nor the trademarks owned by KUKA may be used to
+endorse or promote products derived from this software without specific prior
+written permission.
+
+DISCLAIMER OF WARRANTY
+
+The Software is provided "AS IS" and "WITH ALL FAULTS," without warranty of
+any kind, including without limitation the warranties of merchantability,
+fitness for a particular purpose and non-infringement. 
+KUKA makes no warranty that the Software is free of defects or is suitable for
+any particular purpose. In no event shall KUKA be responsible for loss or
+damages arising from the installation or use of the Software, including but
+not limited to any indirect, punitive, special, incidental or consequential
+damages of any character including, without limitation, damages for loss of
+goodwill, work stoppage, computer failure or malfunction, or any and all other
+commercial damages or losses. 
+The entire risk to the quality and performance of the Software is not borne by
+KUKA. Should the Software prove defective, KUKA is not liable for the entire
+cost of any service and repair.
+
+
+
+\file
+\version {1.16}
+*/
+
+#ifndef _KUKA_FRI_CLIENT_APPLICATION_H
+#define _KUKA_FRI_CLIENT_APPLICATION_H
+
+/** Kuka namespace */
+namespace KUKA
+{
+/** Fast Robot Interface (FRI) namespace */
+namespace FRI
+{
+
+   // forward declarations
+   class IClient;
+   class TransformationClient;
+   class IConnection;
+   struct ClientData;
+
+   /**
+    * \brief FRI client application class.
+    * 
+    * A client application takes an instance of the IConnection interface and
+    * an instance of an IClient interface to provide the functionality
+    * needed to set up an FRI client application. It can be used to easily 
+    * integrate the FRI client code within other applications.
+    * The algorithmic functionality of an FRI client application is implemented
+    * using the IClient interface.
+    */
+   class ClientApplication
+   {
+   
+   public:
+   
+      /**
+       * \brief Constructor without transformation client.
+       * 
+       * This constructor takes an instance of the IConnection interface and
+       * an instance of the IClient interface as parameters.
+       * @param connection FRI connection class
+       * @param client FRI client class
+       */
+      ClientApplication(IConnection& connection, IClient& client);
+     
+      /**
+       * \brief Constructor with transformation client.
+       * 
+       * This constructor takes an instance of the IConnection interface and
+       * an instance of the IClient interface and an instance of a
+       * TransformationClient as parameters.
+       * @param connection FRI connection class
+       * @param client FRI client class
+       * @param trafoClient FRI transformation client class
+       */
+      ClientApplication(IConnection& connection, IClient& client, TransformationClient& trafoClient);
+
+      /** \brief Destructor. */
+      ~ClientApplication();
+   
+      /**
+       * \brief Connect the FRI client application with a KUKA Sunrise controller.
+       * 
+       * @param port The port ID
+       * @param remoteHost The address of the remote host
+       * @return True if connection was established
+       */
+      bool connect(int port, const char *remoteHost = NULL);
+      
+      /**
+       * \brief Disconnect the FRI client application from a KUKA Sunrise controller.
+       */
+      void disconnect();
+   
+      /**
+       * \brief Run a single processing step.
+       * 
+       * The processing step consists of receiving a new FRI monitoring message,
+       * calling the corresponding client callback and sending the resulting 
+       * FRI command message back to the KUKA Sunrise controller.
+       * @return True if all of the substeps succeeded.
+       */
+      bool step();
+
+   protected:
+   
+      IConnection&   _connection;          //!< connection interface
+      IClient*       _robotClient;         //!< robot client interface
+      TransformationClient* _trafoClient;  //!< transformation client interface
+      ClientData*    _data;                //!< client data structure (for internal use)
+
+   };
+
+}
+}
+
+
+#endif // _KUKA_FRI_CLIENT_APPLICATION_H
+