gz_gripper.c

机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

/*
 * Desc: Gripper interface
 * Author: Carle Cote (Laborius - Universite de Sherbrooke - Sherbrooke, Quebec, Canada)
 * Date: 23 february 2004
 * CVS:
 */

#include <string.h>
#include <stdlib.h>
#include <stdio.h>

#include "gazebo.h"


// Create an interface
gz_gripper_t *gz_gripper_alloc()
{
  gz_gripper_t *self;

  self = calloc(1, sizeof(gz_gripper_t));
  self->iface = gz_iface_alloc();

  return self;
}


// Destroy an interface
void gz_gripper_free(gz_gripper_t *self)
{
  gz_iface_free(self->iface);
  free(self);
  return;
}


// Create the interface
int gz_gripper_create(gz_gripper_t *self, gz_server_t *server, const char *id,
                      const char *model_type, int model_id, int parent_model_id)
{
  if (gz_iface_create(self->iface, server, "gripper", id, sizeof(gz_gripper_data_t)) != 0)
    return -1;

  self->data = self->iface->mmap;

  strncpy(self->data->head.model_type, model_type, sizeof(self->data->head.model_type));
  self->data->head.model_id = (int) model_id;
  self->data->head.parent_model_id = (int) parent_model_id;

  return 0;
}


// Destroy the interface (server)
int gz_gripper_destroy(gz_gripper_t *self)
{
  self->data = NULL;
  return gz_iface_destroy(self->iface);
}


// Open an existing interface
int gz_gripper_open(gz_gripper_t *self, gz_client_t *client, const char *id)
{
  if (gz_iface_open(self->iface, client, "gripper", id, sizeof(gz_gripper_data_t)) != 0)
    return -1;

  self->data = self->iface->mmap;
  return 0;
}  


// Close the interface
int gz_gripper_close(gz_gripper_t *self)
{
  self->data = NULL;
  return gz_iface_close(self->iface);
}


// Lock the interface.
int gz_gripper_lock(gz_gripper_t *self, int blocking)
{
  return gz_iface_lock(self->iface, blocking);
}


// Unlock the interface
void gz_gripper_unlock(gz_gripper_t *self)
{
  return gz_iface_unlock(self->iface);
}