urscript_handler.cpp

Go to the documentation of this file.

/*
 * 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.
 */

#include "ur_modern_driver/ros/urscript_handler.h"
#include "ur_modern_driver/log.h"

URScriptHandler::URScriptHandler(URCommander& commander) : commander_(commander), state_(RobotState::Error)
{
  LOG_INFO("Initializing ur_driver/URScript subscriber");
  urscript_sub_ = nh_.subscribe("ur_driver/URScript", 1, &URScriptHandler::urscriptInterface, this);
  LOG_INFO("The ur_driver/URScript initialized");
}

void URScriptHandler::urscriptInterface(const std_msgs::String::ConstPtr& msg)
{
  LOG_INFO("Message received");
  std::string str(msg->data);
  if (str.back() != '\n')
    str.append("\n");

  switch (state_)
  {
    case RobotState::Running:
      if (!commander_.uploadProg(str))
      {
        LOG_ERROR("Program upload failed!");
      }
      break;
    case RobotState::EmergencyStopped:
      LOG_ERROR("Robot is emergency stopped");
      break;
    case RobotState::ProtectiveStopped:
      LOG_ERROR("Robot is protective stopped");
      break;
    case RobotState::Error:
      LOG_ERROR("Robot is not ready, check robot_mode");
      break;
    default:
      LOG_ERROR("Robot is in undefined state");
      break;
  }
}

void URScriptHandler::onRobotStateChange(RobotState state)
{
  state_ = state;
}