shared_dof_variables.h File Reference

RobotSystem-Lite clients request/receive interface. More...

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Macros
#define	DOF_DATA_BLOCK_SIZE   DOF_FLOATS_NUMBER * sizeof(float)
	Size in bytes of all floating-point values for a single DoF update message.

Enumerations
enum	RobotDoFVariable {   DOF_POSITION , DOF_VELOCITY , DOF_FORCE , DOF_ACCELERATION ,   DOF_INERTIA , DOF_DAMPING , DOF_STIFFNESS , DOF_FLOATS_NUMBER }
	Enumeration of floating-point values for a single DoF update message.

Detailed Description

RobotSystem-Lite clients request/receive interface.

Messages transporting online update values for robot DoFs (axes or joints) control variables should arrive as quickly as possible, and there is no advantage in resending lost packets, as their validity is short in time. Thereby, these messages are exchanged with RobotSystem-Lite through lower-latency UDP sockets, on port 50001 for axes and 50002 for joints. Measurements for both axes and joints go from the main application to its clients, axes setpoints go in the opposite direction. Messages consist of byte and single precision floating-point arrays (to prevent string parsing overhead), with data organized like:

DoFs number	Index 1	Position	Velocity	Force	Acceleration	Inertia	Damping	Stiffness	Index 2	...
1 byte	1 byte	4 bytes	4 bytes	4 bytes	4 bytes	4 bytes	4 bytes	4 bytes	1 byte	...