The RTDEWriter class offers an abstraction layer to send data to the robot via the RTDE interface. Several simple to use functions to create data packages to send exist, which are then sent to the robot in an additional thread. More...

#include <rtde_writer.h>

Public Member Functions
void	init (uint8_t recipe_id)
	Starts the writer thread, which periodically clears the queue to write packages to the robot. More...

	RTDEWriter ()=delete

	RTDEWriter (comm::URStream< RTDEPackage > *stream, const std::vector< std::string > &recipe)
	Creates a new RTDEWriter object using a given URStream and recipe. More...

void	run ()
	The writer thread loop, continually serializing and sending packages to the robot. More...

bool	sendConfigurableDigitalOutput (uint8_t output_pin, bool value)
	Creates a package to request setting a new value for one of the configurable digital output pins. More...

bool	sendInputBitRegister (uint32_t register_id, bool value)
	Creates a package to request setting a new value for an input_bit_register. More...

bool	sendInputDoubleRegister (uint32_t register_id, double value)
	Creates a package to request setting a new value for an input_double_register. More...

bool	sendInputIntRegister (uint32_t register_id, int32_t value)
	Creates a package to request setting a new value for an input_int_register. More...

bool	sendSpeedSlider (double speed_slider_fraction)
	Creates a package to request setting a new value for the speed slider. More...

bool	sendStandardAnalogOutput (uint8_t output_pin, double value)
	Creates a package to request setting a new value for one of the standard analog output pins. More...

bool	sendStandardDigitalOutput (uint8_t output_pin, bool value)
	Creates a package to request setting a new value for one of the standard digital output pins. More...

bool	sendToolDigitalOutput (uint8_t output_pin, bool value)
	Creates a package to request setting a new value for one of the tool output pins. More...

	~RTDEWriter ()

Private Member Functions
uint8_t	pinToMask (uint8_t pin)

Private Attributes
DataPackage	package_

std::mutex	package_mutex_

moodycamel::BlockingReaderWriterQueue< std::unique_ptr< DataPackage > >	queue_

std::vector< std::string >	recipe_

uint8_t	recipe_id_

bool	running_

comm::URStream< RTDEPackage > *	stream_

std::thread	writer_thread_

Detailed Description

The RTDEWriter class offers an abstraction layer to send data to the robot via the RTDE interface. Several simple to use functions to create data packages to send exist, which are then sent to the robot in an additional thread.

Definition at line 49 of file rtde_writer.h.

Constructor & Destructor Documentation

◆ RTDEWriter() [1/2]

urcl::rtde_interface::RTDEWriter::RTDEWriter ( )

delete

◆ RTDEWriter() [2/2]

urcl::rtde_interface::RTDEWriter::RTDEWriter	(	comm::URStream< RTDEPackage > *	stream,
		const std::vector< std::string > &	recipe
	)

Creates a new RTDEWriter object using a given URStream and recipe.

Parameters

stream	The URStream to use for communication with the robot
recipe	The recipe to use for communication

Definition at line 35 of file rtde_writer.cpp.

◆ ~RTDEWriter()

urcl::rtde_interface::RTDEWriter::~RTDEWriter ( )

inline

Definition at line 61 of file rtde_writer.h.

Member Function Documentation

◆ init()

void urcl::rtde_interface::RTDEWriter::init ( uint8_t recipe_id )

Starts the writer thread, which periodically clears the queue to write packages to the robot.

Parameters

recipe_id The recipe id to use, so the robot correctly identifies the used recipe

Definition at line 40 of file rtde_writer.cpp.

◆ pinToMask()

uint8_t urcl::rtde_interface::RTDEWriter::pinToMask ( uint8_t pin )

private

Definition at line 246 of file rtde_writer.cpp.

◆ run()

void urcl::rtde_interface::RTDEWriter::run ( )

The writer thread loop, continually serializing and sending packages to the robot.

Definition at line 48 of file rtde_writer.cpp.

◆ sendConfigurableDigitalOutput()

bool urcl::rtde_interface::RTDEWriter::sendConfigurableDigitalOutput	(	uint8_t	output_pin,
		bool	value
	)

Creates a package to request setting a new value for one of the configurable digital output pins.

Parameters

output_pin	The pin to change
value	The new value

Returns: Success of the package creation

Definition at line 132 of file rtde_writer.cpp.

◆ sendInputBitRegister()

bool urcl::rtde_interface::RTDEWriter::sendInputBitRegister	(	uint32_t	register_id,
		bool	value
	)

Creates a package to request setting a new value for an input_bit_register.

Parameters

register_id	The id of the register that should be changed [64..127]
value	The new value

Returns: Success of the package creation

Definition at line 256 of file rtde_writer.cpp.

◆ sendInputDoubleRegister()

bool urcl::rtde_interface::RTDEWriter::sendInputDoubleRegister	(	uint32_t	register_id,
		double	value
	)

Creates a package to request setting a new value for an input_double_register.

Parameters

register_id	The id of the register that should be changed [24..47]
value	The new value

Returns: Success of the package creation

Definition at line 308 of file rtde_writer.cpp.

◆ sendInputIntRegister()

bool urcl::rtde_interface::RTDEWriter::sendInputIntRegister	(	uint32_t	register_id,
		int32_t	value
	)

Creates a package to request setting a new value for an input_int_register.

Parameters

register_id	The id of the register that should be changed [24..47]
value	The new value

Returns: Success of the package creation

Definition at line 282 of file rtde_writer.cpp.

◆ sendSpeedSlider()

bool urcl::rtde_interface::RTDEWriter::sendSpeedSlider ( double speed_slider_fraction )

Creates a package to request setting a new value for the speed slider.

Parameters

speed_slider_fraction The new speed slider fraction as a value between 0.0 and 1.0

Returns: Success of the package creation

Definition at line 66 of file rtde_writer.cpp.

◆ sendStandardAnalogOutput()

bool urcl::rtde_interface::RTDEWriter::sendStandardAnalogOutput	(	uint8_t	output_pin,
		double	value
	)

Creates a package to request setting a new value for one of the standard analog output pins.

Parameters

output_pin	The pin to change
value	The new value, it should be between 0 and 1, where 0 is 4mA and 1 is 20mA.

Returns: Success of the package creation

Definition at line 207 of file rtde_writer.cpp.

◆ sendStandardDigitalOutput()

bool urcl::rtde_interface::RTDEWriter::sendStandardDigitalOutput	(	uint8_t	output_pin,
		bool	value
	)

Creates a package to request setting a new value for one of the standard digital output pins.

Parameters

output_pin	The pin to change
value	The new value

Returns: Success of the package creation

Definition at line 95 of file rtde_writer.cpp.

◆ sendToolDigitalOutput()

bool urcl::rtde_interface::RTDEWriter::sendToolDigitalOutput	(	uint8_t	output_pin,
		bool	value
	)

Creates a package to request setting a new value for one of the tool output pins.

Parameters

output_pin	The pin to change
value	The new value

Returns: Success of the package creation

Definition at line 170 of file rtde_writer.cpp.

Member Data Documentation

◆ package_

DataPackage urcl::rtde_interface::RTDEWriter::package_

private

Definition at line 164 of file rtde_writer.h.

◆ package_mutex_

std::mutex urcl::rtde_interface::RTDEWriter::package_mutex_

private

Definition at line 165 of file rtde_writer.h.

◆ queue_

moodycamel::BlockingReaderWriterQueue<std::unique_ptr<DataPackage> > urcl::rtde_interface::RTDEWriter::queue_

private

Definition at line 161 of file rtde_writer.h.

◆ recipe_

std::vector<std::string> urcl::rtde_interface::RTDEWriter::recipe_

private

Definition at line 159 of file rtde_writer.h.

◆ recipe_id_

uint8_t urcl::rtde_interface::RTDEWriter::recipe_id_

private

Definition at line 160 of file rtde_writer.h.

◆ running_

bool urcl::rtde_interface::RTDEWriter::running_

private

Definition at line 163 of file rtde_writer.h.

◆ stream_

comm::URStream<RTDEPackage>* urcl::rtde_interface::RTDEWriter::stream_

private

Definition at line 158 of file rtde_writer.h.

◆ writer_thread_

std::thread urcl::rtde_interface::RTDEWriter::writer_thread_

private

Definition at line 162 of file rtde_writer.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RTDEWriter() [1/2]

◆ RTDEWriter() [2/2]

◆ ~RTDEWriter()

Member Function Documentation

◆ init()

◆ pinToMask()

◆ run()

◆ sendConfigurableDigitalOutput()

◆ sendInputBitRegister()

◆ sendInputDoubleRegister()

◆ sendInputIntRegister()

◆ sendSpeedSlider()

◆ sendStandardAnalogOutput()

◆ sendStandardDigitalOutput()

◆ sendToolDigitalOutput()

Member Data Documentation

◆ package_

◆ package_mutex_

◆ queue_

◆ recipe_

◆ recipe_id_

◆ running_

◆ stream_

◆ writer_thread_