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add both versions of FRI sdk, configurable in cmake
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kuka_sunrise_fri_driver/include/FRI_v1_5/fri_client_sdk/friClientApplication.h
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| /** | ||
| The following license terms and conditions apply, unless a redistribution | ||
| agreement or other license is obtained by KUKA Roboter 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) 2014-2019 | ||
| KUKA Roboter 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 {1.15} | ||
| */ | ||
|
|
||
| #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(); | ||
|
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||
| protected: | ||
| IConnection & _connection; //!< connection interface | ||
| IClient * _robotClient; //!< robot client interface | ||
| TransformationClient * _trafoClient; //!< transformation client interface | ||
| ClientData * _data; //!< client data structure (for internal use) | ||
|
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| }; | ||
|
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| } | ||
| } | ||
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| #endif // _KUKA_FRI_CLIENT_APPLICATION_H |
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