Program Listing for File reverse_interface.h
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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2019 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef UR_CLIENT_LIBRARY_REVERSE_INTERFACE_H_INCLUDED
#define UR_CLIENT_LIBRARY_REVERSE_INTERFACE_H_INCLUDED
#include "ur_client_library/comm/tcp_server.h"
#include "ur_client_library/comm/control_mode.h"
#include "ur_client_library/types.h"
#include "ur_client_library/log.h"
#include "ur_client_library/ur/robot_receive_timeout.h"
#include <cstring>
#include <endian.h>
#include <condition_variable>
namespace urcl
{
namespace control
{
enum class TrajectoryControlMessage : int32_t
{
TRAJECTORY_CANCEL = -1,
TRAJECTORY_NOOP = 0,
TRAJECTORY_START = 1,
};
enum class FreedriveControlMessage : int32_t
{
FREEDRIVE_STOP = -1,
FREEDRIVE_NOOP = 0,
FREEDRIVE_START = 1,
};
class ReverseInterface
{
public:
static const int32_t MULT_JOINTSTATE = 1000000;
ReverseInterface() = delete;
ReverseInterface(uint32_t port, std::function<void(bool)> handle_program_state,
std::chrono::milliseconds step_time = std::chrono::milliseconds(8));
virtual ~ReverseInterface() = default;
virtual bool write(const vector6d_t* positions, const comm::ControlMode control_mode = comm::ControlMode::MODE_IDLE,
const RobotReceiveTimeout& robot_receive_timeout = RobotReceiveTimeout::millisec(20));
bool
writeTrajectoryControlMessage(const TrajectoryControlMessage trajectory_action, const int point_number = 0,
const RobotReceiveTimeout& robot_receive_timeout = RobotReceiveTimeout::millisec(200));
bool
writeFreedriveControlMessage(const FreedriveControlMessage freedrive_action,
const RobotReceiveTimeout& robot_receive_timeout = RobotReceiveTimeout::millisec(200));
[[deprecated("Set keepaliveCount is deprecated, instead use the robot receive timeout directly in the write "
"commands.")]] virtual void
setKeepaliveCount(const uint32_t count);
protected:
virtual void connectionCallback(const int filedescriptor);
virtual void disconnectionCallback(const int filedescriptor);
virtual void messageCallback(const int filedescriptor, char* buffer, int nbytesrecv);
int client_fd_;
comm::TCPServer server_;
template <typename T>
size_t append(uint8_t* buffer, T& val)
{
size_t s = sizeof(T);
std::memcpy(buffer, &val, s);
return s;
}
static const int MAX_MESSAGE_LENGTH = 8;
std::function<void(bool)> handle_program_state_;
std::chrono::milliseconds step_time_;
uint32_t keepalive_count_;
bool keep_alive_count_modified_deprecated_;
};
} // namespace control
} // namespace urcl
#endif // UR_CLIENT_LIBRARY_REVERSE_INTERFACE_H_INCLUDED