rtde_writer.h

Go to the documentation of this file.

// 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_RTDE_WRITER_H_INCLUDED
#define UR_CLIENT_LIBRARY_RTDE_WRITER_H_INCLUDED
 
#include "ur_client_library/rtde/package_header.h"
#include "ur_client_library/rtde/rtde_package.h"
#include "ur_client_library/rtde/data_package.h"
#include "ur_client_library/comm/stream.h"
#include "ur_client_library/queue/readerwriterqueue.h"
#include "ur_client_library/ur/datatypes.h"
#include <thread>
#include <mutex>
 
namespace urcl
{
namespace rtde_interface
{
class RTDEWriter
{
public:
  RTDEWriter() = delete;
  RTDEWriter(comm::URStream<RTDEPackage>* stream, const std::vector<std::string>& recipe);
 
  ~RTDEWriter()
  {
    running_ = false;
    if (writer_thread_.joinable())
    {
      writer_thread_.join();
    }
  }
  void init(uint8_t recipe_id);
  void run();
 
  bool sendSpeedSlider(double speed_slider_fraction);
  bool sendStandardDigitalOutput(uint8_t output_pin, bool value);
  bool sendConfigurableDigitalOutput(uint8_t output_pin, bool value);
  bool sendToolDigitalOutput(uint8_t output_pin, bool value);
  bool sendStandardAnalogOutput(uint8_t output_pin, double value,
                                const AnalogOutputType type = AnalogOutputType::SET_ON_TEACH_PENDANT);
 
  bool sendInputBitRegister(uint32_t register_id, bool value);
 
  bool sendInputIntRegister(uint32_t register_id, int32_t value);
 
  bool sendInputDoubleRegister(uint32_t register_id, double value);
 
private:
  uint8_t pinToMask(uint8_t pin);
  comm::URStream<RTDEPackage>* stream_;
  std::vector<std::string> recipe_;
  uint8_t recipe_id_;
  moodycamel::BlockingReaderWriterQueue<std::unique_ptr<DataPackage>> queue_;
  std::thread writer_thread_;
  bool running_;
  DataPackage package_;
  std::mutex package_mutex_;
};
 
}  // namespace rtde_interface
}  // namespace urcl
 
#endif  // UR_CLIENT_LIBRARY_RTDE_WRITER_H_INCLUDED