Obbart/universal_robots_ros_driver
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put communication-related classes to namespace

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This commit is contained in:
Felix Mauch
2019-04-01 14:54:39 +02:00
parent 5840d4f406
commit 31746259cf
21 changed files with 108 additions and 89 deletions
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14
include/ur_rtde_driver/ur/commander.h
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@@ -20,21 +20,21 @@
#include <array>
#include <iomanip>
#include <sstream>
#include "ur_rtde_driver/ur/stream.h"
#include "ur_rtde_driver/comm/stream.h"
namespace ur_rtde_driver
{
class URCommander
{
private:
URStream& stream_;
comm::URStream& stream_;
protected:
bool write(const std::string& s);
void formatArray(std::ostringstream& out, std::array<double, 6>& values);
public:
URCommander(URStream& stream) : stream_(stream)
URCommander(comm::URStream& stream) : stream_(stream)
{
}
@@ -53,7 +53,7 @@ public:
class URCommander_V1_X : public URCommander
{
public:
URCommander_V1_X(URStream& stream) : URCommander(stream)
URCommander_V1_X(comm::URStream& stream) : URCommander(stream)
{
}
@@ -65,7 +65,7 @@ public:
class URCommander_V3_X : public URCommander
{
public:
URCommander_V3_X(URStream& stream) : URCommander(stream)
URCommander_V3_X(comm::URStream& stream) : URCommander(stream)
{
}
@@ -77,7 +77,7 @@ public:
class URCommander_V3_1__2 : public URCommander_V3_X
{
public:
URCommander_V3_1__2(URStream& stream) : URCommander_V3_X(stream)
URCommander_V3_1__2(comm::URStream& stream) : URCommander_V3_X(stream)
{
}
@@ -87,7 +87,7 @@ public:
class URCommander_V3_3 : public URCommander_V3_X
{
public:
URCommander_V3_3(URStream& stream) : URCommander_V3_X(stream)
URCommander_V3_3(comm::URStream& stream) : URCommander_V3_X(stream)
{
}

14
include/ur_rtde_driver/ur/consumer.h
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@@ -18,7 +18,7 @@
#pragma once
#include "ur_rtde_driver/pipeline.h"
#include "ur_rtde_driver/comm/pipeline.h"
#include "ur_rtde_driver/ur/master_board.h"
#include "ur_rtde_driver/ur/messages.h"
#include "ur_rtde_driver/ur/robot_mode.h"
@@ -27,10 +27,10 @@
namespace ur_rtde_driver
{
class URRTPacketConsumer : public IConsumer<RTPacket>
class URRTPacketConsumer : public comm::IConsumer<RTPacket>
{
public:
virtual bool consume(shared_ptr<RTPacket> packet)
virtual bool consume(std::shared_ptr<RTPacket> packet)
{
return packet->consumeWith(*this);
}
@@ -41,10 +41,10 @@ public:
virtual bool consume(RTState_V3_2__3& state) = 0;
};
class URStatePacketConsumer : public IConsumer<StatePacket>
class URStatePacketConsumer : public comm::IConsumer<StatePacket>
{
public:
virtual bool consume(shared_ptr<StatePacket> packet)
virtual bool consume(std::shared_ptr<StatePacket> packet)
{
return packet->consumeWith(*this);
}
@@ -58,10 +58,10 @@ public:
virtual bool consume(RobotModeData_V3_2& data) = 0;
};
class URMessagePacketConsumer : public IConsumer<MessagePacket>
class URMessagePacketConsumer : public comm::IConsumer<MessagePacket>
{
public:
virtual bool consume(shared_ptr<MessagePacket> packet)
virtual bool consume(std::shared_ptr<MessagePacket> packet)
{
return packet->consumeWith(*this);
}

30
include/ur_rtde_driver/ur/factory.h
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@@ -19,13 +19,13 @@
#pragma once
#include <cstdlib>
#include "ur_rtde_driver/comm/parser.h"
#include "ur_rtde_driver/comm/stream.h"
#include "ur_rtde_driver/ur/consumer.h"
#include "ur_rtde_driver/ur/messages_parser.h"
#include "ur_rtde_driver/ur/parser.h"
#include "ur_rtde_driver/ur/producer.h"
#include "ur_rtde_driver/ur/rt_parser.h"
#include "ur_rtde_driver/ur/state_parser.h"
#include "ur_rtde_driver/ur/stream.h"
namespace ur_rtde_driver
{
@@ -34,7 +34,7 @@ static const int UR_PRIMARY_PORT = 30001;
class URFactory : private URMessagePacketConsumer
{
private:
URStream stream_;
comm::URStream stream_;
URMessageParser parser_;
uint8_t major_version_;
@@ -67,7 +67,7 @@ public:
URFactory(std::string& host) : stream_(host, UR_PRIMARY_PORT)
{
URProducer<MessagePacket> prod(stream_, parser_);
std::vector<unique_ptr<MessagePacket>> results;
std::vector<std::unique_ptr<MessagePacket>> results;
prod.setupProducer();
@@ -96,7 +96,7 @@ public:
return major_version_ == 3;
}
std::unique_ptr<URCommander> getCommander(URStream& stream)
std::unique_ptr<URCommander> getCommander(comm::URStream& stream)
{
if (major_version_ == 1)
return std::unique_ptr<URCommander>(new URCommander_V1_X(stream));
@@ -106,38 +106,38 @@ public:
return std::unique_ptr<URCommander>(new URCommander_V3_3(stream));
}
std::unique_ptr<URParser<StatePacket>> getStateParser()
std::unique_ptr<comm::URParser<StatePacket>> getStateParser()
{
if (major_version_ == 1)
{
return std::unique_ptr<URParser<StatePacket>>(new URStateParser_V1_X);
return std::unique_ptr<comm::URParser<StatePacket>>(new URStateParser_V1_X);
}
else
{
if (minor_version_ < 3)
return std::unique_ptr<URParser<StatePacket>>(new URStateParser_V3_0__1);
return std::unique_ptr<comm::URParser<StatePacket>>(new URStateParser_V3_0__1);
else if (minor_version_ < 5)
return std::unique_ptr<URParser<StatePacket>>(new URStateParser_V3_2);
return std::unique_ptr<comm::URParser<StatePacket>>(new URStateParser_V3_2);
else
return std::unique_ptr<URParser<StatePacket>>(new URStateParser_V3_5);
return std::unique_ptr<comm::URParser<StatePacket>>(new URStateParser_V3_5);
}
}
std::unique_ptr<URParser<RTPacket>> getRTParser()
std::unique_ptr<comm::URParser<RTPacket>> getRTParser()
{
if (major_version_ == 1)
{
if (minor_version_ < 8)
return std::unique_ptr<URParser<RTPacket>>(new URRTStateParser_V1_6__7);
return std::unique_ptr<comm::URParser<RTPacket>>(new URRTStateParser_V1_6__7);
else
return std::unique_ptr<URParser<RTPacket>>(new URRTStateParser_V1_8);
return std::unique_ptr<comm::URParser<RTPacket>>(new URRTStateParser_V1_8);
}
else
{
if (minor_version_ < 3)
return std::unique_ptr<URParser<RTPacket>>(new URRTStateParser_V3_0__1);
return std::unique_ptr<comm::URParser<RTPacket>>(new URRTStateParser_V3_0__1);
else
return std::unique_ptr<URParser<RTPacket>>(new URRTStateParser_V3_2__3);
return std::unique_ptr<comm::URParser<RTPacket>>(new URRTStateParser_V3_2__3);
}
}
};

2
include/ur_rtde_driver/ur/messages.h
View File

@@ -21,7 +21,7 @@
#include <inttypes.h>
#include <cstddef>
#include "ur_rtde_driver/bin_parser.h"
#include "ur_rtde_driver/pipeline.h"
#include "ur_rtde_driver/comm/pipeline.h"
namespace ur_rtde_driver
{

8
include/ur_rtde_driver/ur/messages_parser.h
View File

@@ -20,16 +20,16 @@
#include <vector>
#include "ur_rtde_driver/bin_parser.h"
#include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/pipeline.h"
#include "ur_rtde_driver/comm/parser.h"
#include "ur_rtde_driver/comm/pipeline.h"
#include "ur_rtde_driver/ur/messages.h"
#include "ur_rtde_driver/ur/parser.h"
namespace ur_rtde_driver
{
class URMessageParser : public URParser<MessagePacket>
class URMessageParser : public comm::URParser<MessagePacket>
{
public:
bool parse(BinParser& bp, std::vector<unique_ptr<MessagePacket>>& results)
bool parse(BinParser& bp, std::vector<std::unique_ptr<MessagePacket>>& results)
{
int32_t packet_size;
message_type type;

32
include/ur_rtde_driver/ur/parser.h
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@@ -1,32 +0,0 @@
/*
* Copyright 2017, 2018 Simon Rasmussen (refactor)
*
* Copyright 2015, 2016 Thomas Timm Andersen (original version)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#include <vector>
#include "ur_rtde_driver/bin_parser.h"
#include "ur_rtde_driver/pipeline.h"
namespace ur_rtde_driver
{
template <typename T>
class URParser
{
public:
virtual bool parse(BinParser& bp, std::vector<std::unique_ptr<T>>& results) = 0;
};
} // namespace ur_rtde_driver

16
include/ur_rtde_driver/ur/producer.h
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@@ -18,22 +18,22 @@
#pragma once
#include <chrono>
#include "ur_rtde_driver/pipeline.h"
#include "ur_rtde_driver/ur/parser.h"
#include "ur_rtde_driver/ur/stream.h"
#include "ur_rtde_driver/comm/pipeline.h"
#include "ur_rtde_driver/comm/parser.h"
#include "ur_rtde_driver/comm/stream.h"
namespace ur_rtde_driver
{
template <typename T>
class URProducer : public IProducer<T>
class URProducer : public comm::IProducer<T>
{
private:
URStream& stream_;
URParser<T>& parser_;
comm::URStream& stream_;
comm::URParser<T>& parser_;
std::chrono::seconds timeout_;
public:
URProducer(URStream& stream, URParser<T>& parser) : stream_(stream), parser_(parser), timeout_(1)
URProducer(comm::URStream& stream, comm::URParser<T>& parser) : stream_(stream), parser_(parser), timeout_(1)
{
}
@@ -50,7 +50,7 @@ public:
stream_.disconnect();
}
bool tryGet(std::vector<unique_ptr<T>>& products)
bool tryGet(std::vector<std::unique_ptr<T>>& products)
{
// 4KB should be enough to hold any packet received from UR
uint8_t buf[4096];

6
include/ur_rtde_driver/ur/rt_parser.h
View File

@@ -20,14 +20,14 @@
#include <vector>
#include "ur_rtde_driver/bin_parser.h"
#include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/pipeline.h"
#include "ur_rtde_driver/ur/parser.h"
#include "ur_rtde_driver/comm/pipeline.h"
#include "ur_rtde_driver/comm/parser.h"
#include "ur_rtde_driver/ur/rt_state.h"
namespace ur_rtde_driver
{
template <typename T>
class URRTStateParser : public URParser<RTPacket>
class URRTStateParser : public comm::URParser<RTPacket>
{
public:
bool parse(BinParser& bp, std::vector<std::unique_ptr<RTPacket>>& results)

2
include/ur_rtde_driver/ur/rt_state.h
View File

@@ -21,7 +21,7 @@
#include <inttypes.h>
#include <cstddef>
#include "ur_rtde_driver/bin_parser.h"
#include "ur_rtde_driver/pipeline.h"
#include "ur_rtde_driver/comm/pipeline.h"
#include "ur_rtde_driver/types.h"
namespace ur_rtde_driver

6
include/ur_rtde_driver/ur/server.h
View File

@@ -24,17 +24,17 @@
#include <cstdlib>
#include <mutex>
#include <string>
#include "ur_rtde_driver/tcp_socket.h"
#include "ur_rtde_driver/comm/tcp_socket.h"
namespace ur_rtde_driver
{
#define MAX_SERVER_BUF_LEN 50
class URServer : private TCPSocket
class URServer : private comm::TCPSocket
{
private:
int port_;
TCPSocket client_;
comm::TCPSocket client_;
protected:
virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len);

2
include/ur_rtde_driver/ur/state.h
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@@ -22,7 +22,7 @@
#include <cstddef>
#include "ur_rtde_driver/bin_parser.h"
#include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/pipeline.h"
#include "ur_rtde_driver/comm/pipeline.h"
namespace ur_rtde_driver
{

6
include/ur_rtde_driver/ur/state_parser.h
View File

@@ -20,16 +20,16 @@
#include <vector>
#include "ur_rtde_driver/bin_parser.h"
#include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/pipeline.h"
#include "ur_rtde_driver/comm/parser.h"
#include "ur_rtde_driver/comm/pipeline.h"
#include "ur_rtde_driver/ur/master_board.h"
#include "ur_rtde_driver/ur/parser.h"
#include "ur_rtde_driver/ur/robot_mode.h"
#include "ur_rtde_driver/ur/state.h"
namespace ur_rtde_driver
{
template <typename RMD, typename MBD>
class URStateParser : public URParser<StatePacket>
class URStateParser : public comm::URParser<StatePacket>
{
private:
StatePacket* from_type(package_type type)

67
include/ur_rtde_driver/ur/stream.h
View File

@@ -1,67 +0,0 @@
/*
* Copyright 2017, 2018 Simon Rasmussen (refactor)
*
* Copyright 2015, 2016 Thomas Timm Andersen (original version)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#include <netdb.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <atomic>
#include <mutex>
#include <string>
#include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/tcp_socket.h"
namespace ur_rtde_driver
{
class URStream : public TCPSocket
{
private:
std::string host_;
int port_;
std::mutex write_mutex_, read_mutex_;
protected:
virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
{
return ::connect(socket_fd, address, address_len) == 0;
}
public:
URStream(std::string& host, int port) : host_(host), port_(port)
{
}
bool connect()
{
return TCPSocket::setup(host_, port_);
}
void disconnect()
{
LOG_INFO("Disconnecting from %s:%d", host_.c_str(), port_);
TCPSocket::close();
}
bool closed()
{
return getState() == SocketState::Closed;
}
bool read(uint8_t* buf, size_t buf_len, size_t& read);
bool write(const uint8_t* buf, size_t buf_len, size_t& written);
};
} // namespace ur_rtde_driver