script_sender.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_CLIENT_LIBRARY_SCRIPT_SENDER_H_INCLUDED
#define UR_CLIENT_LIBRARY_SCRIPT_SENDER_H_INCLUDED

#include <thread>

#include "ur_client_library/comm/tcp_server.h"
#include "ur_client_library/log.h"

namespace urcl
{
namespace comm
{
class ScriptSender
{
public:
  ScriptSender() = delete;
  ScriptSender(uint32_t port, const std::string& program) : server_(port), script_thread_(), program_(program)
  {
    server_.setMessageCallback(
        std::bind(&ScriptSender::messageCallback, this, std::placeholders::_1, std::placeholders::_2));
    server_.setConnectCallback(std::bind(&ScriptSender::connectionCallback, this, std::placeholders::_1));
    server_.setDisconnectCallback(std::bind(&ScriptSender::disconnectionCallback, this, std::placeholders::_1));
    server_.start();
  }

private:
  TCPServer server_;
  std::thread script_thread_;
  std::string program_;

  const std::string PROGRAM_REQUEST_ = std::string("request_program\n");

  void connectionCallback(const int filedescriptor)
  {
    URCL_LOG_DEBUG("New client connected at FD %d.", filedescriptor);
  }

  void disconnectionCallback(const int filedescriptor)
  {
    URCL_LOG_DEBUG("Client at FD %d disconnected.", filedescriptor);
  }

  void messageCallback(const int filedescriptor, char* buffer)
  {
    if (std::string(buffer) == PROGRAM_REQUEST_)
    {
      URCL_LOG_INFO("Robot requested program");
      sendProgram(filedescriptor);
    }
  }

  void sendProgram(const int filedescriptor)
  {
    size_t len = program_.size();
    const uint8_t* data = reinterpret_cast<const uint8_t*>(program_.c_str());
    size_t written;

    if (server_.write(filedescriptor, data, len, written))
    {
      URCL_LOG_INFO("Sent program to robot");
    }
    else
    {
      URCL_LOG_ERROR("Could not send program to robot");
    }
  }
};

}  // namespace comm
}  // namespace urcl

#endif  // UR_CLIENT_LIBRARY_SCRIPT_SENDER_H_INCLUDED