ur_driver.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_UR_UR_DRIVER_H_INCLUDED
#define UR_CLIENT_LIBRARY_UR_UR_DRIVER_H_INCLUDED

#include <functional>

#include "ur_client_library/rtde/rtde_client.h"
#include "ur_client_library/control/reverse_interface.h"
#include "ur_client_library/control/trajectory_point_interface.h"
#include "ur_client_library/control/script_command_interface.h"
#include "ur_client_library/control/script_sender.h"
#include "ur_client_library/ur/tool_communication.h"
#include "ur_client_library/ur/version_information.h"
#include "ur_client_library/primary/robot_message/version_message.h"
#include "ur_client_library/rtde/rtde_writer.h"

namespace urcl
{
class UrDriver
{
public:
  UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
           const std::string& input_recipe_file, std::function<void(bool)> handle_program_state, bool headless_mode,
           std::unique_ptr<ToolCommSetup> tool_comm_setup, const uint32_t reverse_port = 50001,
           const uint32_t script_sender_port = 50002, int servoj_gain = 2000, double servoj_lookahead_time = 0.03,
           bool non_blocking_read = false, const std::string& reverse_ip = "", const uint32_t trajectory_port = 50003,
           const uint32_t script_command_port = 50004, double force_mode_damping = 0.025,
           double force_mode_gain_scaling = 0.5);

  UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
           const std::string& input_recipe_file, std::function<void(bool)> handle_program_state, bool headless_mode,
           std::unique_ptr<ToolCommSetup> tool_comm_setup, const std::string& calibration_checksum = "",
           const uint32_t reverse_port = 50001, const uint32_t script_sender_port = 50002, int servoj_gain = 2000,
           double servoj_lookahead_time = 0.03, bool non_blocking_read = false, const std::string& reverse_ip = "",
           const uint32_t trajectory_port = 50003, const uint32_t script_command_port = 50004,
           double force_mode_damping = 0.025, double force_mode_gain_scaling = 0.5);
  UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file,
           const std::string& input_recipe_file, std::function<void(bool)> handle_program_state, bool headless_mode,
           const std::string& calibration_checksum = "", const uint32_t reverse_port = 50001,
           const uint32_t script_sender_port = 50002, int servoj_gain = 2000, double servoj_lookahead_time = 0.03,
           bool non_blocking_read = false, const std::string& reverse_ip = "", const uint32_t trajectory_port = 50003,
           const uint32_t script_command_port = 50004, double force_mode_damping = 0.025,
           double force_mode_gain_scaling = 0.5)
    : UrDriver(robot_ip, script_file, output_recipe_file, input_recipe_file, handle_program_state, headless_mode,
               std::unique_ptr<ToolCommSetup>{}, calibration_checksum, reverse_port, script_sender_port, servoj_gain,
               servoj_lookahead_time, non_blocking_read, reverse_ip, trajectory_port, script_command_port,
               force_mode_damping, force_mode_gain_scaling)
  {
  }

  virtual ~UrDriver() = default;

  std::unique_ptr<rtde_interface::DataPackage> getDataPackage();

  uint32_t getControlFrequency() const
  {
    return rtde_frequency_;
  }

  bool writeJointCommand(const vector6d_t& values, const comm::ControlMode control_mode);

  bool writeTrajectoryPoint(const vector6d_t& positions, const bool cartesian, const float goal_time = 0.0,
                            const float blend_radius = 0.052);

  bool writeTrajectorySplinePoint(const vector6d_t& positions, const vector6d_t& velocities,
                                  const vector6d_t& accelerations, const float goal_time = 0.0);

  bool writeTrajectorySplinePoint(const vector6d_t& positions, const vector6d_t& velocities,
                                  const float goal_time = 0.0);

  bool writeTrajectorySplinePoint(const vector6d_t& positions, const float goal_time = 0.0);

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

  bool writeFreedriveControlMessage(const control::FreedriveControlMessage freedrive_action);

  bool zeroFTSensor();

  bool setPayload(const float mass, const vector3d_t& cog);

  bool setToolVoltage(const ToolVoltage voltage);

  bool startForceMode(const vector6d_t& task_frame, const vector6uint32_t& selection_vector, const vector6d_t& wrench,
                      const unsigned int type, const vector6d_t& limits);

  bool endForceMode();

  bool startToolContact();

  bool endToolContact();

  bool writeKeepalive();

  void startRTDECommunication();

  bool stopControl();

  bool checkCalibration(const std::string& checksum);

  rtde_interface::RTDEWriter& getRTDEWriter();

  bool sendScript(const std::string& program);

  bool sendRobotProgram();

  const VersionInformation& getVersion()
  {
    return robot_version_;
  }

  std::vector<std::string> getRTDEOutputRecipe();

  void setKeepaliveCount(const uint32_t& count);

  void registerTrajectoryDoneCallback(std::function<void(control::TrajectoryResult)> trajectory_done_cb)
  {
    trajectory_interface_->setTrajectoryEndCallback(trajectory_done_cb);
  }

  void registerToolContactResultCallback(std::function<void(control::ToolContactResult)> tool_contact_result_cb)
  {
    script_command_interface_->setToolContactResultCallback(tool_contact_result_cb);
  }

private:
  std::string readScriptFile(const std::string& filename);

  int rtde_frequency_;
  comm::INotifier notifier_;
  std::unique_ptr<rtde_interface::RTDEClient> rtde_client_;
  std::unique_ptr<control::ReverseInterface> reverse_interface_;
  std::unique_ptr<control::TrajectoryPointInterface> trajectory_interface_;
  std::unique_ptr<control::ScriptCommandInterface> script_command_interface_;
  std::unique_ptr<control::ScriptSender> script_sender_;
  std::unique_ptr<comm::URStream<primary_interface::PrimaryPackage>> primary_stream_;
  std::unique_ptr<comm::URStream<primary_interface::PrimaryPackage>> secondary_stream_;

  double servoj_time_;
  uint32_t servoj_gain_;
  double servoj_lookahead_time_;

  std::function<void(bool)> handle_program_state_;

  std::string robot_ip_;
  bool in_headless_mode_;
  std::string full_robot_program_;

  int get_packet_timeout_;
  bool non_blocking_read_;

  VersionInformation robot_version_;
};
}  // namespace urcl
#endif  // ifndef UR_CLIENT_LIBRARY_UR_UR_DRIVER_H_INCLUDED