dashboard_client.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2019 FZI Forschungszentrum Informatik
//
// 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.
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef UR_ROBOT_DRIVER_DASHBOARD_CLIENT_DASHBOARD_CLIENT_H_INCLUDED
#define UR_ROBOT_DRIVER_DASHBOARD_CLIENT_DASHBOARD_CLIENT_H_INCLUDED

#include <ur_client_library/comm/tcp_socket.h>

namespace urcl
{
class DashboardClient : public comm::TCPSocket
{
public:
  DashboardClient(const std::string& host);
  DashboardClient() = delete;
  virtual ~DashboardClient() = default;

  const int DASHBOARD_SERVER_PORT = 29999;

  bool connect();

  void disconnect();

  std::string sendAndReceive(const std::string& command);

protected:
  virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
  {
    return ::connect(socket_fd, address, address_len) == 0;
  }

private:
  bool send(const std::string& text);
  std::string read();

  void rtrim(std::string& str, const std::string& chars = "\t\n\v\f\r ")
  {
    str.erase(str.find_last_not_of(chars) + 1);
  }

  std::string host_;
  int port_;
  std::mutex write_mutex_;
};
}  // namespace urcl
#endif  // ifndef UR_ROBOT_DRIVER_DASHBOARD_CLIENT_DASHBOARD_CLIENT_H_INCLUDED