ur_communication.h

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/*
 * ur_communication.h
 *
 * Copyright 2015 Thomas Timm Andersen
 *
 * 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.
 */

#ifndef UR_COMMUNICATION_H_
#define UR_COMMUNICATION_H_

#include "robot_state.h"
#include "do_output.h"
#include <vector>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <sys/time.h>
#include <thread>
#include <mutex>
#include <condition_variable>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#include <netdb.h>
#include <iostream>
#include <unistd.h>
#include <chrono>
#include <fcntl.h>
#include <sys/types.h>


class UrCommunication {
private:
        int pri_sockfd_, sec_sockfd_;
        struct sockaddr_in pri_serv_addr_, sec_serv_addr_;
        struct hostent *server_;
        bool keepalive_;
        std::thread comThread_;
        int flag_;
        void run();

public:
        bool connected_;
        RobotState* robot_state_;

        UrCommunication(std::condition_variable& msg_cond, std::string host);
        bool start();
        void halt();

};

#endif /* UR_COMMUNICATION_H_ */