urcl::control::ReverseInterface Class Reference

The ReverseInterface class handles communication to the robot. It starts a server and waits for the robot to connect via its URCaps program. More...

#include <reverse_interface.h>

Inheritance diagram for urcl::control::ReverseInterface:

Public Member Functions
	ReverseInterface ()=delete
	ReverseInterface (uint32_t port, std::function< void(bool)> handle_program_state)
	Creates a ReverseInterface object including a TCPServer. More...
virtual void	setKeepaliveCount (const uint32_t &count)
	Set the Keepalive count. This will set the number of allowed timeout reads on the robot. More...
virtual bool	write (const vector6d_t *positions, const comm::ControlMode control_mode=comm::ControlMode::MODE_IDLE)
	Writes needed information to the robot to be read by the URCaps program. More...
bool	writeFreedriveControlMessage (const FreedriveControlMessage freedrive_action)
	Writes needed information to the robot to be read by the URScript program. More...
bool	writeTrajectoryControlMessage (const TrajectoryControlMessage trajectory_action, const int point_number=0)
	Writes needed information to the robot to be read by the URScript program. More...
virtual	~ReverseInterface ()=default
	Disconnects possible clients so the reverse interface object can be safely destroyed. More...

Static Public Attributes
static const int32_t	MULT_JOINTSTATE = 1000000

Protected Member Functions
template<typename T >
size_t	append (uint8_t *buffer, T &val)
virtual void	connectionCallback (const int filedescriptor)
virtual void	disconnectionCallback (const int filedescriptor)
virtual void	messageCallback (const int filedescriptor, char *buffer, int nbytesrecv)

Protected Attributes
int	client_fd_
std::function< void(bool)>	handle_program_state_
uint32_t	keepalive_count_
comm::TCPServer	server_

Static Protected Attributes
static const int	MAX_MESSAGE_LENGTH = 8

Detailed Description

The ReverseInterface class handles communication to the robot. It starts a server and waits for the robot to connect via its URCaps program.

Definition at line 68 of file reverse_interface.h.

Constructor & Destructor Documentation

ReverseInterface() [1/2]

urcl::control::ReverseInterface::ReverseInterface ( )

delete

ReverseInterface() [2/2]

urcl::control::ReverseInterface::ReverseInterface	(	uint32_t	port,
		std::function< void(bool)>	handle_program_state
	)

Creates a ReverseInterface object including a TCPServer.

Parameters

port	Port the Server is started on
handle_program_state	Function handle to a callback on program state changes.

Definition at line 35 of file reverse_interface.cpp.

~ReverseInterface()

virtual urcl::control::ReverseInterface::~ReverseInterface ( )

virtualdefault

Disconnects possible clients so the reverse interface object can be safely destroyed.

Member Function Documentation

append()

template<typename T >

size_t urcl::control::ReverseInterface::append ( uint8_t *  buffer, T &  val  )

inlineprotected

Definition at line 138 of file reverse_interface.h.

connectionCallback()

void urcl::control::ReverseInterface::connectionCallback ( const int  filedescriptor )

protectedvirtual

Reimplemented in urcl::control::ScriptCommandInterface, and urcl::control::TrajectoryPointInterface.

Definition at line 158 of file reverse_interface.cpp.

disconnectionCallback()

void urcl::control::ReverseInterface::disconnectionCallback ( const int  filedescriptor )

protectedvirtual

Reimplemented in urcl::control::ScriptCommandInterface, and urcl::control::TrajectoryPointInterface.

Definition at line 173 of file reverse_interface.cpp.

messageCallback()

void urcl::control::ReverseInterface::messageCallback ( const int  filedescriptor, char *  buffer, int  nbytesrecv  )

protectedvirtual

Reimplemented in urcl::control::ScriptCommandInterface, and urcl::control::TrajectoryPointInterface.

Definition at line 180 of file reverse_interface.cpp.

setKeepaliveCount()

virtual void urcl::control::ReverseInterface::setKeepaliveCount ( const uint32_t &  count )

inlinevirtual

Set the Keepalive count. This will set the number of allowed timeout reads on the robot.

Parameters

count

Number of allowed timeout reads on the robot.

Definition at line 122 of file reverse_interface.h.

write()

bool urcl::control::ReverseInterface::write ( const vector6d_t *  positions, const comm::ControlMode  control_mode = comm::ControlMode::MODE_IDLE  )

virtual

Writes needed information to the robot to be read by the URCaps program.

Parameters

positions	A vector of joint targets for the robot
control_mode	Control mode assigned to this command. See documentation of comm::ControlMode for details on possible values.

Returns

True, if the write was performed successfully, false otherwise.

Definition at line 47 of file reverse_interface.cpp.

writeFreedriveControlMessage()

bool urcl::control::ReverseInterface::writeFreedriveControlMessage

(

const FreedriveControlMessage

freedrive_action

)

Writes needed information to the robot to be read by the URScript program.

Parameters

freedrive_action

1 if freedrive mode is to be started, -1 if it should be stopped and 0 to keep it running

Returns

True, if the write was performed successfully, false otherwise.

Definition at line 126 of file reverse_interface.cpp.

writeTrajectoryControlMessage()

bool urcl::control::ReverseInterface::writeTrajectoryControlMessage	(	const TrajectoryControlMessage	trajectory_action,
		const int	point_number = 0
	)

Writes needed information to the robot to be read by the URScript program.

Parameters

trajectory_action	1 if a trajectory is to be started, -1 if it should be stopped
point_number	The number of points of the trajectory to be executed

Returns

True, if the write was performed successfully, false otherwise.

Definition at line 90 of file reverse_interface.cpp.

Member Data Documentation

client_fd_

int urcl::control::ReverseInterface::client_fd_

protected

Definition at line 134 of file reverse_interface.h.

handle_program_state_

std::function<void(bool)> urcl::control::ReverseInterface::handle_program_state_

protected

Definition at line 147 of file reverse_interface.h.

keepalive_count_

uint32_t urcl::control::ReverseInterface::keepalive_count_

protected

Definition at line 148 of file reverse_interface.h.

MAX_MESSAGE_LENGTH

const int urcl::control::ReverseInterface::MAX_MESSAGE_LENGTH = 8

staticprotected

Definition at line 145 of file reverse_interface.h.

MULT_JOINTSTATE

const int32_t urcl::control::ReverseInterface::MULT_JOINTSTATE = 1000000

static

Definition at line 71 of file reverse_interface.h.

server_

comm::TCPServer urcl::control::ReverseInterface::server_

protected

Definition at line 135 of file reverse_interface.h.

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

• reverse_interface.h
• reverse_interface.cpp