UpdateConfiguration.java

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package grl;

import java.lang.Runnable;
import java.nio.ByteBuffer;

import org.zeromq.ZMQ;

import com.kuka.connectivity.fastRobotInterface.FRIChannelInformation;
import com.kuka.connectivity.fastRobotInterface.FRIConfiguration;
import com.kuka.connectivity.fastRobotInterface.FRISession;
import com.kuka.connectivity.userInterface.smartServo.ServoMotionUtilities;
import com.kuka.roboticsAPI.deviceModel.LBR;
import com.kuka.roboticsAPI.geometricModel.PhysicalObject;
import com.kuka.roboticsAPI.geometricModel.Tool;

public class UpdateConfiguration {

    private LBR  _lbr;
    private Tool _flangeAttachment;
    private FRIConfiguration _FRIConfiguration = null;
    public LBR get_lbr() {
        return _lbr;
    }

    public void set_lbr(LBR _lbr) {
        this._lbr = _lbr;
    }

    public Tool get_flangeAttachment() {
        return _flangeAttachment;
    }

    public void set_flangeAttachment(Tool _flangeAttachment) {
        this._flangeAttachment = _flangeAttachment;
    }

    public FRIConfiguration get_FRIConfiguration() {
        return _FRIConfiguration;
    }

    public void set_FRIConfiguration(FRIConfiguration _FRIConfiguration) {
        this._FRIConfiguration = _FRIConfiguration;
    }

    public FRISession get_FRISession() {
        return _FRISession;
    }

    public void set_FRISession(FRISession _FRISession) {
        this._FRISession = _FRISession;
    }

    private FRISession _FRISession = null;
    
    public UpdateConfiguration(LBR lbr, Tool flangeAttachment){
        _lbr = lbr;
        _flangeAttachment = flangeAttachment;
    }
    
    /**
     * Create an End effector tool
     * @param link the Flatbuffer representing the tool
     * @return the Kuka tool object
     */
    public PhysicalObject  linkObjectToPhysicalObject(grl.flatbuffer.LinkObject link){
        if(link == null) return null;

        grl.flatbuffer.Vector3d toolpos = link.pose().position();
        grl.flatbuffer.Quaternion toolrot = link.pose().orientation();
        grl.flatbuffer.Vector3d compos = link.inertia().pose().position();
        grl.flatbuffer.Quaternion comrot = link.inertia().pose().orientation();


        double[] translationOfTool =
        { toolpos.x(), toolpos.y(), toolpos.z() };
        double[] centerOfMassInMillimeter =
        { comrot.x(), comrot.y(), comrot.z() };

        return ServoMotionUtilities.createTool(_lbr,
                link.name(), translationOfTool,
                link.inertia().mass(),
                centerOfMassInMillimeter);
    }
    
    /**
     * Sets the FRI Configuration and FRI Session stored by the UpdateConfiguration object
     * @param friConfigBuf flatbuffer containing fri settings
     * @param controllingLaptopIPAddress
     * @return error code true if there was a problem, success code false otherwise
     */
    public boolean FRIflatbufferToConfigAndSession (grl.flatbuffer.FRI friConfigBuf, String controllingLaptopIPAddress ){
        if(friConfigBuf == null) return true;
        // Configure and start FRI session
        FRIConfiguration _FRIConfiguration = FRIConfiguration.createRemoteConfiguration(_lbr, controllingLaptopIPAddress);

        if(friConfigBuf !=null && friConfigBuf.sendPeriodMillisec() >0){
            _FRIConfiguration.setSendPeriodMilliSec(friConfigBuf.sendPeriodMillisec());
            _FRIConfiguration.setReceiveMultiplier(friConfigBuf.setReceiveMultiplier());
        }
        
        _FRISession = new FRISession(_FRIConfiguration);
        
        return false;
    }


}