aubo_realtime_communication.cpp

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#include "aubo_new_driver/aubo_realtime_communication.h"
#include "aubo_new_driver/do_output.h"

AuboRealtimeCommunication::AuboRealtimeCommunication(
        std::condition_variable& msg_cond, std::string host) {
    robot_state_ = new RobotState(msg_cond);
        bzero((char *) &serv_addr_, sizeof(serv_addr_));
        sockfd_ = socket(AF_INET, SOCK_STREAM, 0);
        if (sockfd_ < 0) {
                print_fatal("ERROR opening socket");
        }
        server_ = gethostbyname(host.c_str());
        if (server_ == NULL) {
                print_fatal("ERROR, no such host");
        }
        serv_addr_.sin_family = AF_INET;
        bcopy((char *) server_->h_addr, (char *)&serv_addr_.sin_addr.s_addr, server_->h_length);

        serv_addr_.sin_port = htons(8899);
        flag_ = 1;
        setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int));
        setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, sizeof(int));
        setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, sizeof(int));
        fcntl(sockfd_, F_SETFL, O_NONBLOCK);
        connected_ = false;
        keepalive_ = false;
}

bool AuboRealtimeCommunication::start() {
        fd_set writefds;
        struct timeval timeout;

        keepalive_ = true;
        print_debug("Realtime port: Connecting...");

        connect(sockfd_, (struct sockaddr *) &serv_addr_, sizeof(serv_addr_));

        FD_ZERO(&writefds);
        FD_SET(sockfd_, &writefds);
        timeout.tv_sec = 10;
        timeout.tv_usec = 0;
        select(sockfd_ + 1, NULL, &writefds, NULL, &timeout);
        unsigned int flag_len;
        getsockopt(sockfd_, SOL_SOCKET, SO_ERROR, &flag_, &flag_len);
        if (flag_ < 0) {
        print_fatal("Error connecting to RT port 8899");
                return false;
        }
        sockaddr_in name;
        socklen_t namelen = sizeof(name);
        int err = getsockname(sockfd_, (sockaddr*) &name, &namelen);
        if (err < 0) {
                print_fatal("Could not get local IP");
                close(sockfd_);
                return false;
        }
        char str[18];
        inet_ntop(AF_INET, &name.sin_addr, str, 18);
        local_ip_ = str;
        comThread_ = std::thread(&AuboRealtimeCommunication::run, this);

        return true;
}

void AuboRealtimeCommunication::halt() {
        keepalive_ = false;
        comThread_.join();
}

void AuboRealtimeCommunication::addCommandToQueue(std::string inp) {
        int bytes_written;
        if (inp.back() != '\n') {
                inp.append("\n");
        }
        if (connected_)
    {
                bytes_written = write(sockfd_, inp.c_str(), inp.length());
    }
        else
                print_error("Could not send command \"" +inp + "\". The robot is not connected! Command is discarded" );
}


void AuboRealtimeCommunication::setSpeed(double q0, double q1, double q2,
        double q3, double q4, double q5, double acc) {
    char cmd[1024];

    sprintf(cmd,
            "speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f)\n",
            q0, q1, q2, q3, q4, q5, acc);

    //not implement yet
    //addCommandToQueue((std::string) (cmd));

}

void AuboRealtimeCommunication::setMessagePush(bool flag) {
    char cmd[128];
    sprintf(cmd, "{\"command\":\"enableMessagePush\",\"data\":{\"value\":%s}}\n",flag ? "true" : "false");
    //print_info((std::string)buf);
    addCommandToQueue((std::string) (cmd));
}

void AuboRealtimeCommunication::getRobotPosition() {
    char cmd[128];
    sprintf(cmd,"{\"command\":\"getRobotPos\"}\n");
    addCommandToQueue((std::string) (cmd));
}

void AuboRealtimeCommunication::getRobotJointStatus() {
    char cmd[128];
    sprintf(cmd,"{\"command\":\"getRobotJointStatus\"}\n");
    addCommandToQueue((std::string) (cmd));
}

void AuboRealtimeCommunication::getRobotSystemStatus() {
    char cmd[128];
    sprintf(cmd,"{\"command\":\"getRobotSystemStatus\"}\n");
    addCommandToQueue((std::string) (cmd));
}

void AuboRealtimeCommunication::getRobotEndSpeed() {
    char cmd[128];
    sprintf(cmd,"{\"command\":\"getRobotEndSpeed\"}\n");
    addCommandToQueue((std::string) (cmd));
}


void AuboRealtimeCommunication::run() {
        uint8_t buf[2048];
        int bytes_read;
        bzero(buf, 2048);
        struct timeval timeout;
        fd_set readfds;
        FD_ZERO(&readfds);
        FD_SET(sockfd_, &readfds);
        print_debug("Realtime port: Got connection");
        connected_ = true;
    int time = 0;

    setMessagePush(true);

        while (keepalive_) {
                while (connected_ && keepalive_) {

            timeout.tv_sec = 0; //do this each loop as selects modifies timeout
            timeout.tv_usec = 200000; // timeout of 0.2 sec
            select(sockfd_ + 1, &readfds, NULL, NULL, &timeout);

            bzero(buf, 2048);

                        bytes_read = read(sockfd_, buf, 2048);


                        if (bytes_read > 0) {
                                setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, 
                                                sizeof(int));
                time = 0;
                                robot_state_->unpack(buf);
            }
            else       
            {
               time = time + 1;

               if(time > 100)
               {
                   connected_ = false;
                   close(sockfd_);
                   time  = 0;
               }
            }

            if(connected_ == true)
            {
                //getRobotPosition();
            }
                }

                if (keepalive_) {
                        //reconnect
                        print_warning("Realtime port: No connection. Is controller crashed? Will try to reconnect in 10 seconds...");
                        sockfd_ = socket(AF_INET, SOCK_STREAM, 0);
                        if (sockfd_ < 0) {
                                print_fatal("ERROR opening socket");
                        }
                        flag_ = 1;
                        setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
                                        sizeof(int));
                        setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, 
                                        sizeof(int));
        
                        setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
                                        sizeof(int));
                        fcntl(sockfd_, F_SETFL, O_NONBLOCK);

                        while (keepalive_ && !connected_) {
                                std::this_thread::sleep_for(std::chrono::seconds(10));
                                fd_set writefds;

                                connect(sockfd_, (struct sockaddr *) &serv_addr_,
                                                sizeof(serv_addr_));
                                FD_ZERO(&writefds);
                                FD_SET(sockfd_, &writefds);
                                select(sockfd_ + 1, NULL, &writefds, NULL, NULL);
                                unsigned int flag_len;
                                getsockopt(sockfd_, SOL_SOCKET, SO_ERROR, &flag_, &flag_len);
                                if (flag_ < 0) {
                    print_error("Error re-connecting to RT port 8899. Is controller started? Will try to reconnect in 10 seconds...");
                                } else {
                                        connected_ = true;
                                        print_info("Realtime port: Reconnected");
                                }
                        }
                }
        }
    setSpeed(0.0, 0.0, 0.0, 0.0, 0.0, 0.0,100);
        close(sockfd_);
}


std::string AuboRealtimeCommunication::getLocalIp() {
        return local_ip_;
}