Program Listing for File script_sender.h

↰ Return to documentation for file (/tmp/ws/src/ur_client_library/include/ur_client_library/control/script_sender.h)

// 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_SCRIPT_SENDER_H_INCLUDED
#define UR_CLIENT_LIBRARY_SCRIPT_SENDER_H_INCLUDED

#include <thread>
#include <string>

#include "ur_client_library/comm/tcp_server.h"
#include "ur_client_library/log.h"

namespace urcl
{
namespace control
{
class ScriptSender
{
public:
  ScriptSender() = delete;
  ScriptSender(uint32_t port, const std::string& program);

private:
  comm::TCPServer server_;
  std::thread script_thread_;
  std::string program_;

  const std::string PROGRAM_REQUEST_ = std::string("request_program\n");

  void connectionCallback(const int filedescriptor);

  void disconnectionCallback(const int filedescriptor);

  void messageCallback(const int filedescriptor, char* buffer);

  void sendProgram(const int filedescriptor);
};

}  // namespace control
}  // namespace urcl

#endif  // UR_CLIENT_LIBRARY_SCRIPT_SENDER_H_INCLUDED