Obbart/universal_robots_ros_driver
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Code Releases Activity

Added reconnect to RT port

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This commit is contained in:
Thomas Timm Andersen
2015-09-24 15:47:47 +02:00
parent 8ae3a86a62
commit 039664a1a3
2 changed files with 90 additions and 12 deletions
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2
include/ur_modern_driver/ur_realtime_communication.h
View File

@@ -30,6 +30,8 @@
#include <unistd.h>
#include <arpa/inet.h>
#include <errno.h>
#include <fcntl.h>
#include <sys/types.h>
#ifdef ROS_BUILD
#include <ros/ros.h>

86
src/ur_realtime_communication.cpp
View File

@@ -42,6 +42,7 @@ UrRealtimeCommunication::UrRealtimeCommunication(
flag_ = 1;
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int));
setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, sizeof(int));
fcntl(sockfd_, F_SETFL, O_NONBLOCK);
connected_ = false;
keepalive_ = false;
safety_count_ = safety_count_max + 1;
@@ -49,18 +50,30 @@ UrRealtimeCommunication::UrRealtimeCommunication(
}
void UrRealtimeCommunication::start() {
fd_set writefds;
struct timeval timeout;
keepalive_ = true;
#ifdef ROS_BUILD
ROS_DEBUG("Realtime port: Connecting...");
#else
printf("Realtime port: Connecting...\n");
#endif
if (connect(sockfd_, (struct sockaddr *) &serv_addr_, sizeof(serv_addr_))
< 0) {
connect(sockfd_, (struct sockaddr *) &serv_addr_, sizeof(serv_addr_));
FD_ZERO(&writefds);
FD_SET(sockfd_, &writefds);
timeout.tv_sec = 10;
timeout.tv_usec = 0;
select(sockfd_ + 1, NULL, &writefds, NULL, &timeout);
unsigned int flag_len;
getsockopt(sockfd_, SOL_SOCKET, SO_ERROR, &flag_, &flag_len);
if (flag_ < 0) {
#ifdef ROS_BUILD
ROS_FATAL("Error connecting to RT port 30003");
ROS_FATAL("Error connecting to RT port 30003 - errno: %d (%s)", flag_, strerror(flag_));
#else
printf("Error connecting to RT port 30003\n");
printf("Error connecting to RT port 30003 - errno: %d (%s)\n", flag_,
strerror(flag_));
#endif
}
sockaddr_in name;
@@ -70,7 +83,8 @@ void UrRealtimeCommunication::start() {
#ifdef ROS_BUILD
ROS_FATAL("Could not get local IP - errno: %d (%s)", errno, strerror(errno));
#else
printf("Could not get local IP - errno: %d (%s)", errno, strerror(errno));
printf("Could not get local IP - errno: %d (%s)", errno,
strerror(errno));
#endif
}
char str[18];
@@ -109,6 +123,10 @@ void UrRealtimeCommunication::run() {
uint8_t buf[2048];
int bytes_read;
bzero(buf, 2048);
struct timeval timeout;
fd_set readfds;
FD_ZERO(&readfds);
FD_SET(sockfd_, &readfds);
#ifdef ROS_BUILD
ROS_DEBUG("Realtime port: Got connection");
#else
@@ -116,7 +134,12 @@ void UrRealtimeCommunication::run() {
#endif
connected_ = true;
while (keepalive_) {
while (connected_ && keepalive_) {
timeout.tv_sec = 0; //do this each loop as selects modifies timeout
timeout.tv_usec = 500000; // timeout of 0.5 sec
select(sockfd_ + 1, &readfds, NULL, NULL, &timeout);
bytes_read = read(sockfd_, buf, 2048);
if (bytes_read > 0) {
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
robot_state_->unpack(buf);
@@ -124,6 +147,59 @@ void UrRealtimeCommunication::run() {
setSpeed(0., 0., 0., 0., 0., 0.);
}
safety_count_ += 1;
} else {
connected_ = false;
close(sockfd_);
}
}
if (keepalive_) {
//reconnect
#ifdef ROS_BUILD
ROS_WARN("Realtime port: No connection. Is controller crashed? Will try to reconnect in 10 seconds...");
#else
printf(
"Realtime port: No connection. Is controller crashed? Will try to reconnect in 10 seconds...\n");
#endif
sockfd_ = socket(AF_INET, SOCK_STREAM, 0);
if (sockfd_ < 0) {
#ifdef ROS_BUILD
ROS_FATAL("ERROR opening socket");
ros::shutdown();
#else
printf("ERROR opening socket");
exit(1);
#endif
}
flag_ = 1;
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
sizeof(int));
fcntl(sockfd_, F_SETFL, O_NONBLOCK);
while (keepalive_ && !connected_) {
std::this_thread::sleep_for(std::chrono::seconds(10));
fd_set writefds;
keepalive_ = true;
connect(sockfd_, (struct sockaddr *) &serv_addr_,
sizeof(serv_addr_));
FD_ZERO(&writefds);
FD_SET(sockfd_, &writefds);
select(sockfd_ + 1, NULL, &writefds, NULL, NULL);
unsigned int flag_len;
getsockopt(sockfd_, SOL_SOCKET, SO_ERROR, &flag_, &flag_len);
if (flag_ < 0) {
#ifdef ROS_BUILD
ROS_ERROR("Error re-connecting to RT port 30003. Is controller started? Will try to reconnect in 10 seconds...");
#else
printf(
"Error re-connecting to RT port 30003. Is controller started? Will try to reconnect in 10 seconds...");
#endif
} else {
connected_ = true;
}
}
}
}
setSpeed(0., 0., 0., 0., 0., 0.);
close(sockfd_);