28 #ifndef UR_CLIENT_LIBRARY_RTDE_CLIENT_H_INCLUDED 29 #define UR_CLIENT_LIBRARY_RTDE_CLIENT_H_INCLUDED 49 namespace rtde_interface
95 const std::string& input_recipe_file);
117 std::unique_ptr<rtde_interface::DataPackage> getDataPackage(std::chrono::milliseconds timeout);
126 return max_frequency_;
136 return urcontrol_version_;
144 std::string getIP()
const;
161 return output_recipe_;
177 constexpr
static const double CB3_MAX_FREQUENCY = 125.0;
178 constexpr
static const double URE_MAX_FREQUENCY = 500.0;
180 std::vector<std::string> readRecipe(
const std::string& recipe_file);
182 bool negotiateProtocolVersion(
const uint16_t protocol_version);
183 void queryURControlVersion();
184 void setupOutputs(
const uint16_t protocol_version);
194 std::vector<std::string> splitVariableTypes(
const std::string& variable_types)
const;
200 #endif // UR_CLIENT_LIBRARY_RTDE_CLIENT_H_INCLUDED static const unsigned MAX_REQUEST_RETRIES
comm::URProducer< RTDEPackage > prod_
std::vector< std::string > output_recipe_
The stream is an abstraction of the TCPSocket that offers reading a full UR data package out of the s...
VersionInformation getVersion()
Getter for the UR control version received from the robot.
std::vector< std::string > input_recipe_
static const std::string PIPELINE_NAME
std::vector< std::string > getOutputRecipe()
Getter for the RTDE output recipe.
The RTDEWriter class offers an abstraction layer to send data to the robot via the RTDE interface...
comm::Pipeline< RTDEPackage > pipeline_
Parent class for notifiers.
The RTDE specific parser. Interprets a given byte stream as serialized RTDE packages and parses it ac...
comm::URStream< RTDEPackage > stream_
The RTDEClient class manages communication over the RTDE interface. It contains the RTDE handshake an...
double getMaxFrequency() const
Getter for the frequency the robot will publish RTDE data packages with.
static const uint16_t MAX_RTDE_PROTOCOL_VERSION
The Pipepline manages the production and optionally consumption of packages. Cyclically the producer ...
A general producer for URPackages. Implements funcionality to produce packages by reading and parsing...
VersionInformation urcontrol_version_
static const int UR_RTDE_PORT