UrRealtimeCommunication Class Reference

#include <ur_realtime_communication.h>

List of all members.

Public Member Functions
void	addCommandToQueue (std::string inp)
std::string	getLocalIp ()
void	halt ()
void	setSafetyCountMax (uint inp)
void	setSpeed (double q0, double q1, double q2, double q3, double q4, double q5, double acc=100.)
bool	start ()
	UrRealtimeCommunication (std::condition_variable &msg_cond, std::string host, unsigned int safety_count_max=12)
Public Attributes
bool	connected_
RobotStateRT *	robot_state_
Private Member Functions
void	run ()
Private Attributes
std::string	command_
std::recursive_mutex	command_string_lock_
std::thread	comThread_
int	flag_
bool	keepalive_
std::string	local_ip_
unsigned int	safety_count_
unsigned int	safety_count_max_
struct sockaddr_in	serv_addr_
struct hostent *	server_
int	sockfd_

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Detailed Description

Definition at line 44 of file ur_realtime_communication.h.

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Constructor & Destructor Documentation

UrRealtimeCommunication::UrRealtimeCommunication	(	std::condition_variable &	msg_cond,
		std::string	host,
		unsigned int	safety_count_max = 12
	)

Definition at line 21 of file ur_realtime_communication.cpp.

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Member Function Documentation

void UrRealtimeCommunication::addCommandToQueue

(

std::string

inp

)

Definition at line 87 of file ur_realtime_communication.cpp.

std::string UrRealtimeCommunication::getLocalIp

(

)

Definition at line 196 of file ur_realtime_communication.cpp.

void UrRealtimeCommunication::halt

(

)

Definition at line 82 of file ur_realtime_communication.cpp.

void UrRealtimeCommunication::run

(

)

[private]

Definition at line 123 of file ur_realtime_communication.cpp.

void UrRealtimeCommunication::setSafetyCountMax

(

uint

inp

)

Definition at line 192 of file ur_realtime_communication.cpp.

void UrRealtimeCommunication::setSpeed	(	double	q0,
		double	q1,
		double	q2,
		double	q3,
		double	q4,
		double	q5,
		double	acc = 100.
	)

Definition at line 98 of file ur_realtime_communication.cpp.

bool UrRealtimeCommunication::start

(

)

Definition at line 48 of file ur_realtime_communication.cpp.

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Member Data Documentation

std::string UrRealtimeCommunication::command_ [private]

Definition at line 55 of file ur_realtime_communication.h.

std::recursive_mutex UrRealtimeCommunication::command_string_lock_ [private]

Definition at line 54 of file ur_realtime_communication.h.

std::thread UrRealtimeCommunication::comThread_ [private]

Definition at line 52 of file ur_realtime_communication.h.

bool UrRealtimeCommunication::connected_

Definition at line 61 of file ur_realtime_communication.h.

int UrRealtimeCommunication::flag_ [private]

Definition at line 53 of file ur_realtime_communication.h.

bool UrRealtimeCommunication::keepalive_ [private]

Definition at line 51 of file ur_realtime_communication.h.

std::string UrRealtimeCommunication::local_ip_ [private]

Definition at line 50 of file ur_realtime_communication.h.

RobotStateRT* UrRealtimeCommunication::robot_state_

Definition at line 62 of file ur_realtime_communication.h.

unsigned int UrRealtimeCommunication::safety_count_ [private]

Definition at line 56 of file ur_realtime_communication.h.

unsigned int UrRealtimeCommunication::safety_count_max_ [private]

Definition at line 46 of file ur_realtime_communication.h.

struct sockaddr_in UrRealtimeCommunication::serv_addr_ [private]

Definition at line 48 of file ur_realtime_communication.h.

struct hostent* UrRealtimeCommunication::server_ [private]

Definition at line 49 of file ur_realtime_communication.h.

int UrRealtimeCommunication::sockfd_ [private]

Definition at line 47 of file ur_realtime_communication.h.

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The documentation for this class was generated from the following files:

• ur_realtime_communication.h
• ur_realtime_communication.cpp