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Fixes data reporting #1

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Merged
diego-ramlab merged 3 commits into from
Oct 15, 2025
Merged

Fixes data reporting #1

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63c5e26
Fixes data reporting
diego-ramlab Oct 8, 2025
100b1f5
Fix to speed rounding
Jakub-Ramlab Oct 13, 2025
27d70dd
Merges adds-mods-required-from-backend
diego-ramlab Oct 15, 2025
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9 changes: 6 additions & 3 deletions tm_driver/src/tm_command.cpp
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
#include <ios>
#ifdef NO_INCLUDE_DIR
#include "tm_command.h"
#else
Expand Down Expand Up @@ -80,8 +81,8 @@ std::string TmCommand::set_tool_pose_Line(const std::vector<double> &pose,
double vel, double acc_time, int blend_percent, bool fine_goal, int precision)
{
auto pose_mmdeg = mmdeg_pose(pose);
int vel_mm = int(1000.0 * vel);
int acct_ms = int(1000.0 * acc_time);
int vel_mm = static_cast<int>( std::round(1000.0 * vel));
int acct_ms = static_cast<int>( std::round(1000.0 * acc_time));
std::stringstream ss;
ss << std::fixed << std::setprecision(precision);
ss << "Line(\"CAP\",";
Expand Down Expand Up @@ -202,7 +203,9 @@ std::string TmCommand::set_vel_mode_target(VelMode mode, const std::vector<doubl
std::string TmCommand::set_tcp_speed(uint32_t linear_speed, uint32_t rotational_speed)
{
std::stringstream ss;
ss << "SetTCPSpeed(" << linear_speed << "," << rotational_speed << ")";
ss << "SetTCPSpeedLimit(";
ss << std::boolalpha << true;
ss << "," << linear_speed << "," << rotational_speed << ")";
return ss.str();
}

Expand Down
10 changes: 7 additions & 3 deletions tm_driver/src/tm_robot_state.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,12 +27,12 @@ class TmDataTable
};
private:
std::map<std::string, Item> _item_map;

const TmRobotStateData *_rsd;
public:
TmDataTable(TmRobotState *rs)
{
print_debug("Create DataTable");

_rsd = &rs->tmRobotStateDataFromEthernet;
_item_map.clear();
//_item_map[""] = { Item:, &rs- };
_item_map["Robot_Link" ] = { &rs->tmRobotStateDataFromEthernet.is_linked };
Expand Down Expand Up @@ -111,6 +111,7 @@ class TmDataTable
std::map<std::string, Item> & get() { return _item_map; }
std::map<std::string, Item>::iterator find(const std::string &name) { return _item_map.find(name); }
std::map<std::string, Item>::iterator end() { return _item_map.end(); }
const TmRobotStateData* get_rsd() { return _rsd; }
};

TmRobotState::TmRobotState()
Expand Down Expand Up @@ -306,11 +307,14 @@ size_t TmRobotState::_deserialize(const char *data, size_t size)
}

multiThreadCache.set_catch_data(tmRobotStateDataFromEthernet);
tmRobotStateDataToPublish = *_data_table->get_rsd();
static constexpr bool print_model = true;
if (print_model) {
print_model = false;
auto msg = std::string("Robot model is: ") + tmRobotStateDataFromEthernet.robot_model;
print_info(msg.c_str());
print_model = false;
}
if (boffset > size) {
}
return boffset;
}
Expand Down