28 #ifndef UR_CLIENT_LIBRARY_RTDE_WRITER_H_INCLUDED 29 #define UR_CLIENT_LIBRARY_RTDE_WRITER_H_INCLUDED 41 namespace rtde_interface
63 std::this_thread::sleep_for(std::chrono::seconds(5));
75 void init(uint8_t recipe_id);
171 #endif // UR_CLIENT_LIBRARY_RTDE_WRITER_H_INCLUDED bool sendStandardDigitalOutput(uint8_t output_pin, bool value)
Creates a package to request setting a new value for one of the standard digital output pins...
void init(uint8_t recipe_id)
Starts the writer thread, which periodically clears the queue to write packages to the robot...
bool sendInputIntRegister(uint32_t register_id, int32_t value)
Creates a package to request setting a new value for an input_int_register.
The stream is an abstraction of the TCPSocket that offers reading a full UR data package out of the s...
comm::URStream< RTDEPackage > * stream_
std::mutex package_mutex_
The RTDEWriter class offers an abstraction layer to send data to the robot via the RTDE interface...
bool sendConfigurableDigitalOutput(uint8_t output_pin, bool value)
Creates a package to request setting a new value for one of the configurable digital output pins...
bool sendToolDigitalOutput(uint8_t output_pin, bool value)
Creates a package to request setting a new value for one of the tool output pins. ...
uint8_t pinToMask(uint8_t pin)
std::vector< std::string > recipe_
void run()
The writer thread loop, continually serializing and sending packages to the robot.
bool sendStandardAnalogOutput(uint8_t output_pin, double value)
Creates a package to request setting a new value for one of the standard analog output pins...
std::thread writer_thread_
bool sendInputBitRegister(uint32_t register_id, bool value)
Creates a package to request setting a new value for an input_bit_register.
bool sendInputDoubleRegister(uint32_t register_id, double value)
Creates a package to request setting a new value for an input_double_register.
The DataPackage class handles communication in the form of RTDE data packages both to and from the ro...
moodycamel::BlockingReaderWriterQueue< std::unique_ptr< DataPackage > > queue_
bool sendSpeedSlider(double speed_slider_fraction)
Creates a package to request setting a new value for the speed slider.