libjaka 0.1.14

Rust bindings for the Jaka robot
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155

use robot_behavior::{
    ControlType, CxxArmState, LoadState, MotionType, behavior::*, cxx_arm_behavior, cxx_arm_param,
    cxx_arm_preplanned_motion, cxx_arm_preplanned_motion_ext, cxx_arm_preplanned_motion_impl,
    cxx_robot_behavior,
};

struct JakaMini2(crate::JakaMini2);

#[cxx::bridge]
mod libjaka {
    pub struct CxxMotionType {
        pub mode: CxxMotionTypeMode,
        pub values: Vec<f64>,
    }
    pub enum CxxMotionTypeMode {
        Joint,
        JointVel,
        Cartesian,
        CartesianVel,
        Position,
        PositionVel,
        Stop,
    }
    pub struct CxxControlType {
        pub mode: CxxControlTypeMode,
        pub values: Vec<f64>,
    }
    pub enum CxxControlTypeMode {
        Zero,
        Torque,
    }
    pub struct CxxLoadState {
        pub m: f64,
        pub x: [f64; 3],
        pub i: [f64; 9],
    }
    extern "Rust" {
        type JakaMini2;

        #[Self = "JakaMini2"]
        fn attach(ip: &str) -> Box<JakaMini2>;

        #[Self = "JakaMini2"]
        fn version() -> String;
        fn init(&mut self) -> Result<()>;
        fn shutdown(&mut self) -> Result<()>;
        fn enable(&mut self) -> Result<()>;
        fn disable(&mut self) -> Result<()>;
        fn reset(&mut self) -> Result<()>;
        fn is_moving(&mut self) -> bool;
        fn stop(&mut self) -> Result<()>;
        fn pause(&mut self) -> Result<()>;
        fn resume(&mut self) -> Result<()>;
        fn emergency_stop(&mut self) -> Result<()>;
        fn clear_emergency_stop(&mut self) -> Result<()>;

        fn move_joint(&mut self, target: &[f64; 6]) -> Result<()>;
        fn move_joint_async(&mut self, target: &[f64; 6]) -> Result<()>;

        // fn move_cartesian(&mut self, target: &Pose) -> Result<()>;
        // fn move_cartesian_async(&mut self, target: &Pose) -> Result<()>;
    }
}

pub use libjaka::*;

impl JakaMini2 {
    pub fn attach(ip: &str) -> Box<Self> {
        Box::new(JakaMini2(crate::JakaMini2::new(ip)))
    }
}

impl JakaMini2 {
    cxx_robot_behavior!(JakaMini2(crate::JakaMini2));
    cxx_arm_behavior!(JakaMini2<{6}>(crate::JakaMini2));
    cxx_arm_param!(JakaMini2<{6}>(crate::JakaMini2));
    cxx_arm_preplanned_motion_impl!(JakaMini2<{6}>(crate::JakaMini2));
    cxx_arm_preplanned_motion!(JakaMini2<{6}>(crate::JakaMini2));
    cxx_arm_preplanned_motion_ext!(JakaMini2<{6}>(crate::JakaMini2));
}

impl<const N: usize> From<CxxMotionType> for MotionType<N> {
    fn from(cxx: CxxMotionType) -> Self {
        match cxx.mode {
            CxxMotionTypeMode::Joint => MotionType::Joint(cxx.values.try_into().unwrap()),
            CxxMotionTypeMode::JointVel => MotionType::JointVel(cxx.values.try_into().unwrap()),
            CxxMotionTypeMode::Cartesian => MotionType::Cartesian(cxx.values.into()),
            CxxMotionTypeMode::CartesianVel => {
                MotionType::CartesianVel(cxx.values.try_into().unwrap())
            }
            CxxMotionTypeMode::Position => MotionType::Position(cxx.values.try_into().unwrap()),
            CxxMotionTypeMode::PositionVel => {
                MotionType::PositionVel(cxx.values.try_into().unwrap())
            }
            CxxMotionTypeMode::Stop => MotionType::Stop,
            _ => panic!("Invalid mode for MotionType"),
        }
    }
}

impl<const N: usize> From<MotionType<N>> for CxxMotionType {
    fn from(motion: MotionType<N>) -> Self {
        match motion {
            MotionType::Joint(v) => {
                CxxMotionType { mode: CxxMotionTypeMode::Joint, values: v.to_vec() }
            }
            MotionType::JointVel(v) => {
                CxxMotionType { mode: CxxMotionTypeMode::JointVel, values: v.to_vec() }
            }
            MotionType::Cartesian(v) => {
                CxxMotionType { mode: CxxMotionTypeMode::Cartesian, values: v.into() }
            }
            MotionType::CartesianVel(v) => {
                CxxMotionType { mode: CxxMotionTypeMode::CartesianVel, values: v.to_vec() }
            }
            MotionType::Position(v) => {
                CxxMotionType { mode: CxxMotionTypeMode::Position, values: v.to_vec() }
            }
            MotionType::PositionVel(v) => {
                CxxMotionType { mode: CxxMotionTypeMode::PositionVel, values: v.to_vec() }
            }
            MotionType::Stop => CxxMotionType {
                mode: CxxMotionTypeMode::Position, // Use Position as a placeholder for Stop
                values: vec![],
            },
        }
    }
}

impl<const N: usize> From<CxxControlType> for ControlType<N> {
    fn from(cxx: CxxControlType) -> Self {
        match cxx.mode {
            CxxControlTypeMode::Zero => ControlType::Zero,
            CxxControlTypeMode::Torque => ControlType::Torque(cxx.values.try_into().unwrap()),
            _ => panic!("Invalid mode for ControlType"),
        }
    }
}

impl<const N: usize> From<ControlType<N>> for CxxControlType {
    fn from(control: ControlType<N>) -> Self {
        match control {
            ControlType::Zero => CxxControlType { mode: CxxControlTypeMode::Zero, values: vec![] },
            ControlType::Torque(v) => {
                CxxControlType { mode: CxxControlTypeMode::Torque, values: v.to_vec() }
            }
        }
    }
}

impl From<CxxLoadState> for LoadState {
    fn from(cxx: CxxLoadState) -> Self {
        LoadState { m: cxx.m, x: cxx.x, i: cxx.i }
    }
}