Commit Iniziale

libURcom/URCLinterface.h

@@ -0,0 +1,54 @@
+/*
+ * URCLinterface.h
+ *
+ *  Created on: Jan 14, 2019
+ *      Author: emanuele
+ */
+
+#ifndef URCLINTERFACE_H_
+#define URCLINTERFACE_H_
+
+#include "clientMessage.h"
+#include <ctime>
+#include <iostream>
+#include <arpa/inet.h>
+#include <spdlog/spdlog.h>
+#include <boost/asio.hpp>
+#include <boost/format.hpp>
+
+using namespace std;
+using namespace boost::asio;
+using ip::tcp;
+
+
+class UR_CLinterface {
+public:
+	UR_CLinterface(shared_ptr<spdlog::logger>);
+	virtual ~UR_CLinterface();
+
+	bool connect(const char* ip, uint16_t port);
+	void disconnect();
+
+	void sendCommand(std::string command);
+	void sendPose(pose_t pos);
+	void sendJointPose(jointPose_t pos);
+
+	void readData();
+	void parseData();
+
+	clientData_t clientData;
+private:
+	shared_ptr<spdlog::logger> log;
+
+	boost::asio::io_service io_service;
+	boost::asio::streambuf receive_buffer;
+	boost::system::error_code error;
+	tcp::socket* rsocket;
+
+	uint32_t lastDataLen=0;
+	unsigned char* lastData=NULL;
+	bool firstMessage=true;
+
+};
+
+#endif /* URCLINTERFACE_H_ */