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
// 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_SCRIPT_SENDER_H_INCLUDED
#define UR_CLIENT_LIBRARY_SCRIPT_SENDER_H_INCLUDED
 
#include <thread>
#include <string>
 
#include "ur_client_library/comm/tcp_server.h"
#include "ur_client_library/log.h"
 
namespace urcl
{
namespace control
{
class ScriptSender
{
public:
  ScriptSender() = delete;
  ScriptSender(uint32_t port, const std::string& program);
 
private:
  comm::TCPServer server_;
  std::thread script_thread_;
  std::string program_;
 
  const std::string PROGRAM_REQUEST_ = std::string("request_program\n");
 
  void connectionCallback(const socket_t filedescriptor);
 
  void disconnectionCallback(const socket_t filedescriptor);
 
  void messageCallback(const socket_t filedescriptor, char* buffer);
 
  void sendProgram(const socket_t filedescriptor);
};
 
}  // namespace control
}  // namespace urcl
 
#endif  // UR_CLIENT_LIBRARY_SCRIPT_SENDER_H_INCLUDED