Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

ROSify output based on compiler flag

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-09-16 14:06:39 +02:00
parent fb95d2188d
commit 1b995a928b
7 changed files with 107 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
src/robot_state.cpp
View File

@@ -143,7 +143,6 @@ void RobotState::unpackRobotStateMasterboard(uint8_t * buf,
offset += sizeof(mb_data_.digitalOutputBits);
mb_data_.digitalOutputBits = ntohl(mb_data_.digitalOutputBits);
}
printf("output bits: %X\n", mb_data_.digitalOutputBits);
memcpy(&mb_data_.analogInputRange0, &buf[offset],
sizeof(mb_data_.analogInputRange0));

87
src/ur_communication.cpp
View File

@@ -18,18 +18,33 @@ UrCommunication::UrCommunication(std::condition_variable& msg_cond,
bzero((char *) &sec_serv_addr_, sizeof(sec_serv_addr_));
pri_sockfd_ = socket(AF_INET, SOCK_STREAM, 0);
if (pri_sockfd_ < 0) {
#ifdef ROS_BUILD
ROS_FATAL("ERROR opening socket");
ros::shutdown();
#else
printf("ERROR opening socket");
exit(0);
exit(1);
#endif
}
sec_sockfd_ = socket(AF_INET, SOCK_STREAM, 0);
if (sec_sockfd_ < 0) {
#ifdef ROS_BUILD
ROS_FATAL("ERROR opening socket");
ros::shutdown();
#else
printf("ERROR opening socket");
exit(0);
exit(1);
#endif
}
server_ = gethostbyname(host.c_str());
if (server_ == NULL) {
#ifdef ROS_BUILD
ROS_FATAL("ERROR, no such host");
ros::shutdown();
#else
printf("ERROR, no such host\n");
exit(0);
exit(1);
#endif
}
pri_serv_addr_.sin_family = AF_INET;
sec_serv_addr_.sin_family = AF_INET;
@@ -38,10 +53,14 @@ UrCommunication::UrCommunication(std::condition_variable& msg_cond,
pri_serv_addr_.sin_port = htons(30001);
sec_serv_addr_.sin_port = htons(30002);
flag_ = 1;
setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int));
setsockopt(pri_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, sizeof(int));
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int));
setsockopt(sec_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, sizeof(int));
setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
setsockopt(pri_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
sizeof(int));
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
setsockopt(sec_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
sizeof(int));
connected_ = false;
keepalive_ = false;
}
@@ -52,29 +71,60 @@ void UrCommunication::start() {
unsigned int bytes_read;
std::string cmd;
bzero(buf, 512);
#ifdef ROS_BUILD
ROS_DEBUG("Acquire firmware version: Connecting...");
#else
printf("Acquire firmware version: Connecting...\n");
#endif
if (connect(pri_sockfd_, (struct sockaddr *) &pri_serv_addr_,
sizeof(pri_serv_addr_)) < 0) {
printf("Error connecting");
#ifdef ROS_BUILD
ROS_FATAL("Error connecting");
ros::shutdown();
#else
printf("Error connecting\n");
exit(1);
#endif
}
#ifdef ROS_BUILD
ROS_DEBUG("Acquire firmware version: Got connection");
#else
printf("Acquire firmware version: Got connection\n");
#endif
bytes_read = read(pri_sockfd_, buf, 512);
setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int));
setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
robot_state_->unpack(buf, bytes_read);
//wait for some traffic so the UR socket doesn't die in version 3.1.
std::this_thread::sleep_for(std::chrono::milliseconds(500));
printf("Firmware version: %f\n\n", robot_state_->getVersion());
#ifdef ROS_BUILD
ROS_DEBUG("Firmware version detected: %f", robot_state_->getVersion());
#else
printf("Firmware version detected: %f\n", robot_state_->getVersion());
#endif
close(pri_sockfd_);
printf("Switching to secondary interface for masterboard data: Connecting...\n"); // which generates less network traffic
if (connect(sec_sockfd_, (struct sockaddr *) &sec_serv_addr_,
sizeof(sec_serv_addr_)) < 0) {
printf("Error connecting");
exit(1);
}
printf("Secondary interface: Got connection\n");
#ifdef ROS_BUILD
ROS_DEBUG("Switching to secondary interface for masterboard data: Connecting...");
#else
printf(
"Switching to secondary interface for masterboard data: Connecting...\n"); // which generates less network traffic
#endif
if (connect(sec_sockfd_, (struct sockaddr *) &sec_serv_addr_,
sizeof(sec_serv_addr_)) < 0) {
#ifdef ROS_BUILD
ROS_FATAL("Error connecting");
ros::shutdown();
#else
printf("Error connecting\n");
exit(1);
#endif
}
#ifdef ROS_BUILD
ROS_DEBUG("Secondary interface: Got connection");
#else
printf("Secondary interface: Got connection\n");
#endif
comThread_ = std::thread(&UrCommunication::run, this);
}
@@ -96,7 +146,6 @@ void UrCommunication::run() {
uint8_t buf[2048];
unsigned int bytes_read;
bzero(buf, 2048);
printf("Got connection\n");
connected_ = true;
while (keepalive_) {
bytes_read = read(sec_sockfd_, buf, 2048); // usually only up to 1295 bytes

35
src/ur_realtime_communication.cpp
View File

@@ -13,19 +13,28 @@
UrRealtimeCommunication::UrRealtimeCommunication(
std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max) :
SAMPLETIME_(0.008) {
unsigned int safety_count_max) {
robot_state_ = new RobotStateRT(msg_cond);
bzero((char *) &serv_addr_, sizeof(serv_addr_));
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(0);
exit(1);
#endif
}
server_ = gethostbyname(host.c_str());
if (server_ == NULL) {
#ifdef ROS_BUILD
ROS_FATAL("ERROR, no such host");
ros::shutdown();
#else
printf("ERROR, no such host\n");
exit(0);
exit(1);
#endif
}
serv_addr_.sin_family = AF_INET;
bcopy((char *) server_->h_addr, (char *)&serv_addr_.sin_addr.s_addr, server_->h_length);
@@ -35,16 +44,24 @@ UrRealtimeCommunication::UrRealtimeCommunication(
setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, sizeof(int));
connected_ = false;
keepalive_ = false;
safety_count_ = safety_count_max+1;
safety_count_ = safety_count_max + 1;
safety_count_max_ = safety_count_max;
}
void UrRealtimeCommunication::start() {
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)
printf("Error connecting to RT port 30003");
printf("Realtime port: Connecting...\n");
#ifdef ROS_BUILD
ROS_FATAL("Error connecting to RT port 30003");
#else
printf("Error connecting to RT port 30003\n");
#endif
comThread_ = std::thread(&UrRealtimeCommunication::run, this);
}
@@ -78,7 +95,11 @@ void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2,
void UrRealtimeCommunication::run() {
uint8_t buf[2048];
bzero(buf, 2048);
#ifdef ROS_BUILD
ROS_DEBUG("Realtime port: Got connection");
#else
printf("Realtime port: Got connection\n");
#endif
connected_ = true;
while (keepalive_) {
read(sockfd_, buf, 2048);

4
src/ur_ros_wrapper.cpp
View File

@@ -88,11 +88,11 @@ public:
double min_payload = 0.;
double max_payload = 1.;
if (ros::param::get("~min_payload", min_payload)) {
ROS_DEBUG("Min payload accepted by ur_driver: %f [kg]",
ROS_DEBUG("Min payload set to: %f [kg]",
min_payload);
}
if (ros::param::get("~max_payload", max_payload)) {
ROS_DEBUG("Max payload accepted by ur_driver: %f [kg]",
ROS_DEBUG("Max payload set to: %f [kg]",
max_payload);
}
robot_.setMinPayload(min_payload);