Obbart/universal_robots_ros_driver
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Stop sending data to servoj when stopTraj is called

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This commit is contained in:
Thomas Timm Andersen
2015-10-08 15:47:39 +02:00
parent 8c9595bbf2
commit 1d54bcca1d
2 changed files with 6 additions and 2 deletions
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1
include/ur_modern_driver/ur_driver.h
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@@ -40,6 +40,7 @@ private:
int incoming_sockfd_; int incoming_sockfd_;
int new_sockfd_; int new_sockfd_;
double servoj_time_; double servoj_time_;
bool executing_traj_;
public: public:
UrRealtimeCommunication* rt_interface_; UrRealtimeCommunication* rt_interface_;
UrCommunication* sec_interface_; UrCommunication* sec_interface_;

7
src/ur_driver.cpp
View File

@@ -126,13 +126,14 @@ void UrDriver::doTraj(std::vector<double> inp_timestamps,
std::vector<double> positions; std::vector<double> positions;
unsigned int j; unsigned int j;
executing_traj_ = true;
UrDriver::uploadProg(); UrDriver::uploadProg();
t0 = std::chrono::high_resolution_clock::now(); t0 = std::chrono::high_resolution_clock::now();
t = t0; t = t0;
j = 0; j = 0;
while (inp_timestamps[inp_timestamps.size() - 1] while ((inp_timestamps[inp_timestamps.size() - 1]
>= std::chrono::duration_cast<std::chrono::duration<double>>(t - t0).count()) { >= std::chrono::duration_cast<std::chrono::duration<double>>(t - t0).count()) and executing_traj_) {
while (inp_timestamps[j] while (inp_timestamps[j]
<= std::chrono::duration_cast<std::chrono::duration<double>>( <= std::chrono::duration_cast<std::chrono::duration<double>>(
t - t0).count() && j < inp_timestamps.size() - 1) { t - t0).count() && j < inp_timestamps.size() - 1) {
@@ -151,6 +152,7 @@ void UrDriver::doTraj(std::vector<double> inp_timestamps,
t = std::chrono::high_resolution_clock::now(); t = std::chrono::high_resolution_clock::now();
} }
//Signal robot to stop driverProg() //Signal robot to stop driverProg()
executing_traj_ = false;
UrDriver::closeServo(positions); UrDriver::closeServo(positions);
} }
@@ -183,6 +185,7 @@ void UrDriver::servoj(std::vector<double> positions,
} }
void UrDriver::stopTraj() { void UrDriver::stopTraj() {
executing_traj_ = false;
rt_interface_->addCommandToQueue("stopj(10)\n"); rt_interface_->addCommandToQueue("stopj(10)\n");
} }