reverse_interface.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
// Created on behalf of Universal Robots A/S
//
// 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_REVERSE_INTERFACE_H_INCLUDED
#define UR_CLIENT_LIBRARY_REVERSE_INTERFACE_H_INCLUDED
 
#include "ur_client_library/comm/tcp_server.h"
#include "ur_client_library/comm/control_mode.h"
#include "ur_client_library/types.h"
#include "ur_client_library/log.h"
#include "ur_client_library/ur/robot_receive_timeout.h"
#include <cstring>
#include <endian.h>
#include <condition_variable>
 
namespace urcl
{
namespace control
{
enum class TrajectoryControlMessage : int32_t
{
  TRAJECTORY_CANCEL = -1,  
  TRAJECTORY_NOOP = 0,     
  TRAJECTORY_START = 1,    
};
 
enum class FreedriveControlMessage : int32_t
{
  FREEDRIVE_STOP = -1,  
  FREEDRIVE_NOOP = 0,   
  FREEDRIVE_START = 1,  
};
 
class ReverseInterface
{
public:
  static const int32_t MULT_JOINTSTATE = 1000000;
 
  ReverseInterface() = delete;
  ReverseInterface(uint32_t port, std::function<void(bool)> handle_program_state,
                   std::chrono::milliseconds step_time = std::chrono::milliseconds(8));
 
  virtual ~ReverseInterface() = default;
 
  virtual bool write(const vector6d_t* positions, const comm::ControlMode control_mode = comm::ControlMode::MODE_IDLE,
                     const RobotReceiveTimeout& robot_receive_timeout = RobotReceiveTimeout::millisec(20));
 
  bool
  writeTrajectoryControlMessage(const TrajectoryControlMessage trajectory_action, const int point_number = 0,
                                const RobotReceiveTimeout& robot_receive_timeout = RobotReceiveTimeout::millisec(200));
 
  bool
  writeFreedriveControlMessage(const FreedriveControlMessage freedrive_action,
                               const RobotReceiveTimeout& robot_receive_timeout = RobotReceiveTimeout::millisec(200));
 
  [[deprecated("Set keepaliveCount is deprecated, instead use the robot receive timeout directly in the write "
               "commands.")]] virtual void
  setKeepaliveCount(const uint32_t count);
 
  void registerDisconnectionCallback(std::function<void(const int)> disconnection_fun)
  {
    disconnection_callback_ = disconnection_fun;
  }
 
  bool isConnected() const
  {
    return client_fd_ != INVALID_SOCKET;
  }
 
protected:
  virtual void connectionCallback(const socket_t filedescriptor);
 
  virtual void disconnectionCallback(const socket_t filedescriptor);
 
  virtual void messageCallback(const socket_t filedescriptor, char* buffer, int nbytesrecv);
 
  std::function<void(const int)> disconnection_callback_ = nullptr;
  socket_t client_fd_;
  comm::TCPServer server_;
 
  template <typename T>
  size_t append(uint8_t* buffer, T& val)
  {
    size_t s = sizeof(T);
    std::memcpy(buffer, &val, s);
    return s;
  }
 
  static const int MAX_MESSAGE_LENGTH = 8;
 
  std::function<void(bool)> handle_program_state_;
  std::chrono::milliseconds step_time_;
 
  uint32_t keepalive_count_;
  bool keep_alive_count_modified_deprecated_;
};
 
}  // namespace control
}  // namespace urcl
 
#endif  // UR_CLIENT_LIBRARY_REVERSE_INTERFACE_H_INCLUDED