69 lines
2.3 KiB
C
69 lines
2.3 KiB
C
#ifndef LINUXCNC_WEB_WASM_SIM_KINEMATICS_MOTION_H
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#define LINUXCNC_WEB_WASM_SIM_KINEMATICS_MOTION_H
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#include "sim_kinematics.h"
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#include "sim_posemath.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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enum sim_kinematics_motion_result {
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SIM_KIN_MOTION_OK = 0,
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SIM_KIN_MOTION_ERR_ARGUMENT = -800,
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SIM_KIN_MOTION_ERR_STATE = -801,
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SIM_KIN_MOTION_ERR_CAPACITY = -802,
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SIM_KIN_MOTION_ERR_PLANNER = -803,
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SIM_KIN_MOTION_ERR_INVERSE = -804,
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SIM_KIN_MOTION_ERR_NONFINITE = -805,
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SIM_KIN_MOTION_ERR_CONFIGURATION = -806,
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};
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#define SIM_KIN_MOTION_QUEUE_CAPACITY 64u
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typedef struct sim_kinematics_motion_sample {
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sim_posemath_pose pose;
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double joints[SIM_KIN_MAX_JOINTS];
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uint32_t joint_count;
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uint32_t tick;
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uint32_t planner_id;
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} sim_kinematics_motion_sample;
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typedef struct sim_kinematics_motion {
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sim_tp planner;
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sim_kinematics *kinematics;
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sim_kinematics_motion_sample samples[SIM_KIN_MOTION_QUEUE_CAPACITY];
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uint32_t head;
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uint32_t count;
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uint32_t tick;
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uint32_t joint_count;
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uint32_t paused;
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int last_error;
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int planner_error;
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int kinematics_error;
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sim_posemath_pose last_pose;
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double last_joints[SIM_KIN_MAX_JOINTS];
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} sim_kinematics_motion;
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int sim_kinematics_motion_init(sim_kinematics_motion *adapter,
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sim_kinematics *kinematics, double cycle_time,
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double velocity_limit, double acceleration_limit);
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int sim_kinematics_motion_reset(sim_kinematics_motion *adapter);
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int sim_kinematics_motion_enqueue(sim_kinematics_motion *adapter,
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const sim_posemath_segment *segment,
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uint32_t *id_out);
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int sim_kinematics_motion_pause(sim_kinematics_motion *adapter, uint32_t paused);
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int sim_kinematics_motion_step(sim_kinematics_motion *adapter);
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int sim_kinematics_motion_peek(const sim_kinematics_motion *adapter,
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sim_kinematics_motion_sample *sample);
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int sim_kinematics_motion_pop(sim_kinematics_motion *adapter,
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sim_kinematics_motion_sample *sample);
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uint32_t sim_kinematics_motion_depth(const sim_kinematics_motion *adapter);
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uint64_t sim_kinematics_motion_state_hash(const sim_kinematics_motion *adapter);
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#ifdef __cplusplus
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}
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#endif
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#endif
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