Obbart/universal_robots_ros_driver
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Code Releases Activity

ROSify output based on compiler flag

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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
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87
src/ur_communication.cpp
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@@ -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