The RTDEClient class manages communication over the RTDE interface. It contains the RTDE handshake and read and write functionality to and from the robot. More...

#include <rtde_client.h>

Public Member Functions
std::unique_ptr< rtde_interface::DataPackage >	getDataPackage (std::chrono::milliseconds timeout)
	Reads the pipeline to fetch the next data package. More...

std::string	getIP () const
	Returns the IP address (of the machine running this driver) used for the socket connection. More...

double	getMaxFrequency () const
	Getter for the frequency the robot will publish RTDE data packages with. More...

std::vector< std::string >	getOutputRecipe ()
	Getter for the RTDE output recipe. More...

VersionInformation	getVersion ()
	Getter for the UR control version received from the robot. More...

RTDEWriter &	getWriter ()
	Getter for the RTDE writer, which is used to send data via the RTDE interface to the robot. More...

bool	init ()
	Sets up RTDE communication with the robot. The handshake includes negotiation of the used protocol version and setting of input and output recipes. More...

	RTDEClient ()=delete

	RTDEClient (std::string robot_ip, comm::INotifier &notifier, const std::string &output_recipe_file, const std::string &input_recipe_file)
	Creates a new RTDEClient object, including a used URStream and Pipeline to handle the communication with the robot. More...

bool	start ()
	Triggers the robot to start sending RTDE data packages in the negotiated format. More...

	~RTDEClient ()

Private Member Functions
bool	negotiateProtocolVersion (const uint16_t protocol_version)

void	queryURControlVersion ()

std::vector< std::string >	readRecipe (const std::string &recipe_file)

void	setupInputs ()

void	setupOutputs (const uint16_t protocol_version)

std::vector< std::string >	splitVariableTypes (const std::string &variable_types) const
	Splits a variable_types string as reported from the robot into single variable type strings. More...

Private Attributes
std::vector< std::string >	input_recipe_

double	max_frequency_

std::vector< std::string >	output_recipe_

RTDEParser	parser_

comm::Pipeline< RTDEPackage >	pipeline_

comm::URProducer< RTDEPackage >	prod_

comm::URStream< RTDEPackage >	stream_

VersionInformation	urcontrol_version_

RTDEWriter	writer_

Static Private Attributes
static constexpr const double	CB3_MAX_FREQUENCY = 125.0

static constexpr const double	URE_MAX_FREQUENCY = 500.0

Detailed Description

The RTDEClient class manages communication over the RTDE interface. It contains the RTDE handshake and read and write functionality to and from the robot.

Definition at line 81 of file rtde_client.h.

Constructor & Destructor Documentation

urcl::rtde_interface::RTDEClient::RTDEClient ( )

delete

urcl::rtde_interface::RTDEClient::RTDEClient	(	std::string	robot_ip,
		comm::INotifier &	notifier,
		const std::string &	output_recipe_file,
		const std::string &	input_recipe_file
	)

Creates a new RTDEClient object, including a used URStream and Pipeline to handle the communication with the robot.

Parameters

robot_ip	The IP of the robot
notifier	The notifier to use in the pipeline
output_recipe_file	Path to the file containing the output recipe
input_recipe_file	Path to the file containing the input recipe

Definition at line 35 of file src/rtde/rtde_client.cpp.

urcl::rtde_interface::RTDEClient::~RTDEClient ( )

Definition at line 48 of file src/rtde/rtde_client.cpp.

Member Function Documentation

std::unique_ptr< rtde_interface::DataPackage > urcl::rtde_interface::RTDEClient::getDataPackage ( std::chrono::milliseconds timeout )

Reads the pipeline to fetch the next data package.

Parameters

timeout Time to wait if no data package is currently in the queue

Returns: Unique ptr to the package, if a package was fetched successfully, nullptr otherwise

Definition at line 346 of file src/rtde/rtde_client.cpp.

std::string urcl::rtde_interface::RTDEClient::getIP ( ) const

Returns the IP address (of the machine running this driver) used for the socket connection.

Returns: The IP address as a string (e.g. "192.168.0.1")

Definition at line 361 of file src/rtde/rtde_client.cpp.

double urcl::rtde_interface::RTDEClient::getMaxFrequency ( ) const

inline

Getter for the frequency the robot will publish RTDE data packages with.

Returns: The used frequency

Definition at line 124 of file rtde_client.h.

std::vector<std::string> urcl::rtde_interface::RTDEClient::getOutputRecipe ( )

inline

Getter for the RTDE output recipe.

Returns: The output recipe

Definition at line 159 of file rtde_client.h.

VersionInformation urcl::rtde_interface::RTDEClient::getVersion ( )

inline

Getter for the UR control version received from the robot.

Returns: The VersionInformation received from the robot

Definition at line 134 of file rtde_client.h.

RTDEWriter & urcl::rtde_interface::RTDEClient::getWriter ( )

Getter for the RTDE writer, which is used to send data via the RTDE interface to the robot.

Returns: A reference to the used RTDEWriter

Definition at line 366 of file src/rtde/rtde_client.cpp.

bool urcl::rtde_interface::RTDEClient::init ( )

Sets up RTDE communication with the robot. The handshake includes negotiation of the used protocol version and setting of input and output recipes.

Returns: Success of the handshake

Definition at line 53 of file src/rtde/rtde_client.cpp.

bool urcl::rtde_interface::RTDEClient::negotiateProtocolVersion ( const uint16_t protocol_version )

private

Definition at line 89 of file src/rtde/rtde_client.cpp.

void urcl::rtde_interface::RTDEClient::queryURControlVersion ( )

private

Definition at line 132 of file src/rtde/rtde_client.cpp.

std::vector< std::string > urcl::rtde_interface::RTDEClient::readRecipe ( const std::string & recipe_file )

private

Definition at line 327 of file src/rtde/rtde_client.cpp.

void urcl::rtde_interface::RTDEClient::setupInputs ( )

private

Definition at line 232 of file src/rtde/rtde_client.cpp.

void urcl::rtde_interface::RTDEClient::setupOutputs ( const uint16_t protocol_version )

private

Definition at line 170 of file src/rtde/rtde_client.cpp.

std::vector< std::string > urcl::rtde_interface::RTDEClient::splitVariableTypes ( const std::string & variable_types ) const

private

Splits a variable_types string as reported from the robot into single variable type strings.

Parameters

variable_types String as reported from the robot

Returns: A vector of variable variable_names

Definition at line 371 of file src/rtde/rtde_client.cpp.

bool urcl::rtde_interface::RTDEClient::start ( )

Triggers the robot to start sending RTDE data packages in the negotiated format.

Returns: Success of the requested start

Definition at line 292 of file src/rtde/rtde_client.cpp.

Member Data Documentation

constexpr const double urcl::rtde_interface::RTDEClient::CB3_MAX_FREQUENCY = 125.0

staticprivate

Definition at line 177 of file rtde_client.h.

std::vector<std::string> urcl::rtde_interface::RTDEClient::input_recipe_

private

Definition at line 167 of file rtde_client.h.

double urcl::rtde_interface::RTDEClient::max_frequency_

private

Definition at line 175 of file rtde_client.h.

std::vector<std::string> urcl::rtde_interface::RTDEClient::output_recipe_

private

Definition at line 166 of file rtde_client.h.

RTDEParser urcl::rtde_interface::RTDEClient::parser_

private

Definition at line 168 of file rtde_client.h.

comm::Pipeline<RTDEPackage> urcl::rtde_interface::RTDEClient::pipeline_

private

Definition at line 170 of file rtde_client.h.

comm::URProducer<RTDEPackage> urcl::rtde_interface::RTDEClient::prod_

private

Definition at line 169 of file rtde_client.h.

comm::URStream<RTDEPackage> urcl::rtde_interface::RTDEClient::stream_

private

Definition at line 165 of file rtde_client.h.

VersionInformation urcl::rtde_interface::RTDEClient::urcontrol_version_

private

Definition at line 173 of file rtde_client.h.

constexpr const double urcl::rtde_interface::RTDEClient::URE_MAX_FREQUENCY = 500.0

staticprivate

Definition at line 178 of file rtde_client.h.

RTDEWriter urcl::rtde_interface::RTDEClient::writer_

private

Definition at line 171 of file rtde_client.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation