urcl::DashboardClient Class Reference

This class is a wrapper around the dashboard server. More...

#include <dashboard_client.h>

Inheritance diagram for urcl::DashboardClient:

Public Member Functions
bool	connect ()
	Opens a connection to the dasboard server on the host as specified in the constructor. More...
	DashboardClient (const std::string &host)
	Constructor that shall be used by default. More...
	DashboardClient ()=delete
void	disconnect ()
	Makes sure no connection to the dashboard server is held inside the object. More...
std::string	sendAndReceive (const std::string &command)
	Sends a command through the socket and waits for an answer. More...
virtual	~DashboardClient ()=default
Public Member Functions inherited from urcl::comm::TCPSocket
void	close ()
	Closes the connection to the socket. More...
std::string	getIP () const
	Determines the local IP address of the currently configured socket. More...
int	getSocketFD ()
	Getter for the file descriptor of the socket. More...
SocketState	getState ()
	Getter for the state of the socket. More...
bool	read (char *character)
	Reads one byte from the socket. More...
bool	read (uint8_t *buf, const size_t buf_len, size_t &read)
	Reads data from the socket. More...
void	setReceiveTimeout (const timeval &timeout)
	Setup Receive timeout used for this socket. More...
	TCPSocket ()
	Creates a TCPSocket object. More...
bool	write (const uint8_t *buf, const size_t buf_len, size_t &written)
	Writes to the socket. More...
virtual	~TCPSocket ()

Public Attributes
const int	DASHBOARD_SERVER_PORT = 29999

Protected Member Functions
virtual bool	open (int socket_fd, struct sockaddr *address, size_t address_len)
Protected Member Functions inherited from urcl::comm::TCPSocket
virtual void	setOptions (int socket_fd)
bool	setup (std::string &host, int port)

Private Member Functions
std::string	read ()
void	rtrim (std::string &str, const std::string &chars="\t\n\v\f\r ")
bool	send (const std::string &text)

Private Attributes
std::string	host_
int	port_
std::mutex	write_mutex_

Additional Inherited Members
Protected Attributes inherited from urcl::comm::TCPSocket
std::unique_ptr< timeval >	recv_timeout_

Detailed Description

This class is a wrapper around the dashboard server.

For every Dashboard command there exists a wrapper function that will send the request and wait for the server's response.

For documentation about the dashboard server, please see

• https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/dashboard-server-cb-series-port-29999-15690/
• https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/dashboard-server-e-series-port-29999-42728/

Definition at line 44 of file dashboard_client.h.

Constructor & Destructor Documentation

urcl::DashboardClient::DashboardClient

(

const std::string &

host

)

Constructor that shall be used by default.

Parameters

host	IP address of the robot

Definition at line 35 of file dashboard_client.cpp.

urcl::DashboardClient::DashboardClient ( )

delete

virtual urcl::DashboardClient::~DashboardClient ( )

virtualdefault

Member Function Documentation

bool urcl::DashboardClient::connect

(

)

Opens a connection to the dasboard server on the host as specified in the constructor.

Returns

True on successful connection, false otherwise.

Definition at line 39 of file dashboard_client.cpp.

void urcl::DashboardClient::disconnect

(

)

Makes sure no connection to the dashboard server is held inside the object.

Definition at line 55 of file dashboard_client.cpp.

virtual bool urcl::DashboardClient::open ( int  socket_fd, struct sockaddr *  address, size_t  address_len  )

inlineprotectedvirtual

Reimplemented from urcl::comm::TCPSocket.

Definition at line 81 of file dashboard_client.h.

std::string urcl::DashboardClient::read ( )

private

Definition at line 69 of file dashboard_client.cpp.

void urcl::DashboardClient::rtrim ( std::string &  str, const std::string &  chars = "\t\n\v\f\r "  )

inlineprivate

Definition at line 90 of file dashboard_client.h.

bool urcl::DashboardClient::send ( const std::string &  text )

private

Definition at line 61 of file dashboard_client.cpp.

std::string urcl::DashboardClient::sendAndReceive

(

const std::string &

command

)

Sends a command through the socket and waits for an answer.

Parameters

command

Command that will be sent to the server. It is important, that the command sent is finished with a ' ' (newline) so it will be processed by the server.

Returns

Answer as received by the server cut off any trailing newlines.

Definition at line 92 of file dashboard_client.cpp.

Member Data Documentation

const int urcl::DashboardClient::DASHBOARD_SERVER_PORT = 29999

Definition at line 56 of file dashboard_client.h.

std::string urcl::DashboardClient::host_

private

Definition at line 95 of file dashboard_client.h.

int urcl::DashboardClient::port_

private

Definition at line 96 of file dashboard_client.h.

std::mutex urcl::DashboardClient::write_mutex_

private

Definition at line 97 of file dashboard_client.h.

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The documentation for this class was generated from the following files:

• dashboard_client.h
• dashboard_client.cpp