Program Listing for File producer.h
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/*
* Copyright 2019, FZI Forschungszentrum Informatik (templating)
*
* Copyright 2017, 2018 Simon Rasmussen (refactor)
*
* Copyright 2015, 2016 Thomas Timm Andersen (original version)
*
* 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.
*/
#pragma once
#include <chrono>
#include "ur_client_library/comm/pipeline.h"
#include "ur_client_library/comm/parser.h"
#include "ur_client_library/comm/stream.h"
#include "ur_client_library/comm/package.h"
#include "ur_client_library/exceptions.h"
namespace urcl
{
namespace comm
{
template <typename T>
class URProducer : public IProducer<T>
{
private:
URStream<T>& stream_;
Parser<T>& parser_;
std::chrono::seconds timeout_;
bool running_;
public:
URProducer(URStream<T>& stream, Parser<T>& parser) : stream_(stream), parser_(parser), timeout_(1), running_(false)
{
}
void setupProducer(const size_t max_num_tries = 0,
const std::chrono::milliseconds reconnection_time = std::chrono::seconds(10)) override
{
timeval tv;
tv.tv_sec = 1;
tv.tv_usec = 0;
stream_.setReceiveTimeout(tv);
if (!stream_.connect(max_num_tries, reconnection_time))
{
throw UrException("Failed to connect to robot. Please check if the robot is booted and connected.");
}
}
void teardownProducer() override
{
stopProducer();
}
void stopProducer() override
{
running_ = false;
}
void startProducer() override
{
running_ = true;
}
bool tryGet(std::vector<std::unique_ptr<T>>& products) override
{
// TODO This function has become really ugly! That should be refactored!
// 4KB should be enough to hold any packet received from UR
uint8_t buf[4096];
size_t read = 0;
// expoential backoff reconnects
while (true)
{
if (stream_.read(buf, sizeof(buf), read))
{
// reset sleep amount
timeout_ = std::chrono::seconds(1);
BinParser bp(buf, read);
return parser_.parse(bp, products);
}
if (!running_)
return true;
if (stream_.closed())
return false;
URCL_LOG_WARN("Failed to read from stream, reconnecting in %ld seconds...", timeout_.count());
std::this_thread::sleep_for(timeout_);
if (stream_.connect())
continue;
auto next = timeout_ * 2;
if (next <= std::chrono::seconds(120))
timeout_ = next;
}
return false;
}
};
} // namespace comm
} // namespace urcl