Obbart/universal_robots_ros_driver
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Use secondary port with secondary program for sending custom script messages

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This commit is contained in:
Felix Mauch
2019-09-11 08:53:31 +02:00
committed by Tristan Schnell
parent 7597c9fa6c
commit 2d78248760
3 changed files with 8 additions and 2 deletions
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1
ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
View File

@@ -39,6 +39,7 @@ namespace ur_driver
namespace primary_interface
{
static const int UR_PRIMARY_PORT = 30001;
static const int UR_SECONDARY_PORT = 30002;
enum class RobotPackageType : int8_t
{
DISCONNECT = -1,

1
ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
View File

@@ -140,6 +140,7 @@ private:
std::unique_ptr<comm::ReverseInterface> reverse_interface_;
std::unique_ptr<comm::ScriptSender> script_sender_;
std::unique_ptr<comm::URStream<ur_driver::primary_interface::PackageHeader>> primary_stream_;
std::unique_ptr<comm::URStream<ur_driver::primary_interface::PackageHeader>> secondary_stream_;
double servoj_time_;
uint32_t servoj_gain_;

8
ur_rtde_driver/src/ur/ur_driver.cpp
View File

@@ -63,6 +63,9 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
primary_stream_.reset(new comm::URStream<ur_driver::primary_interface::PackageHeader>(
robot_ip_, ur_driver::primary_interface::UR_PRIMARY_PORT));
secondary_stream_.reset(new comm::URStream<ur_driver::primary_interface::PackageHeader>(
robot_ip_, ur_driver::primary_interface::UR_SECONDARY_PORT));
secondary_stream_->connect();
LOG_INFO("Checking if calibration data matches connected robot.");
checkCalibration(calibration_checksum);
@@ -246,16 +249,17 @@ rtde_interface::RTDEWriter& UrDriver::getRTDEWriter()
bool UrDriver::sendScript(const std::string& program)
{
if (primary_stream_ == nullptr)
if (secondary_stream_ == nullptr)
{
throw std::runtime_error("Sending script to robot requested while there is no primary interface established. This "
"should not happen.");
}
size_t len = program.size();
const uint8_t* data = reinterpret_cast<const uint8_t*>(program.c_str());
size_t written;
if (primary_stream_->write(data, len, written))
if (secondary_stream_->write(data, len, written))
{
LOG_DEBUG("Sent program to robot");
return true;