Obbart/universal_robots_ros_driver
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implemented watchdog

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it receives keepalive signals by the program running on the robot and monitors the socket connection to reopen the server when necessary
This commit is contained in:
Tristan Schnell
2019-05-16 16:44:41 +02:00
parent 7e56332b26
commit 3f22a2479a
5 changed files with 94 additions and 7 deletions
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53
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -44,8 +44,12 @@ static const std::string SERVER_IP_REPLACE("{{SERVER_IP_REPLACE}}");
static const std::string SERVER_PORT_REPLACE("{{SERVER_PORT_REPLACE}}");
ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& script_file,
const std::string& recipe_file)
: servoj_time_(0.008), servoj_gain_(2000), servoj_lookahead_time_(0.03)
const std::string& recipe_file, std::function<void(bool)> handle_program_state)
: servoj_time_(0.008)
, servoj_gain_(2000)
, servoj_lookahead_time_(0.03)
, reverse_interface_active_(false)
, handle_program_state_(handle_program_state)
{
LOG_INFO("Initializing RTDE client");
rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip, notifier_, recipe_file));
@@ -79,9 +83,9 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
script_sender_.reset(new comm::ScriptSender(script_sender_port, prog));
script_sender_->start();
LOG_INFO("Created script sender");
reverse_interface_.reset(new comm::ReverseInterface(reverse_port));
LOG_INFO("Created reverse interface");
reverse_port_ = reverse_port;
watchdog_thread_ = std::thread(&UrDriver::startWatchdog, this);
rtde_client_->start(); // TODO: Add extra start method (also to HW-Interface)
LOG_INFO("Initialization done");
@@ -107,7 +111,7 @@ std::unique_ptr<rtde_interface::DataPackage> ur_driver::UrDriver::getDataPackage
bool UrDriver::writeJointCommand(const vector6d_t& values)
{
if (reverse_interface_)
if (reverse_interface_active_)
{
reverse_interface_->write(values);
}
@@ -119,6 +123,34 @@ bool UrDriver::writeJointCommand(const vector6d_t& values)
return true;
}
void UrDriver::startWatchdog()
{
handle_program_state_(false);
reverse_interface_.reset(new comm::ReverseInterface(reverse_port_));
reverse_interface_active_ = true;
LOG_INFO("Created reverse interface");
while (true)
{
handle_program_state_(true);
while (reverse_interface_active_ == true)
{
std::string keepalive = readKeepalive();
if (keepalive == std::string(""))
{
reverse_interface_active_ = false;
}
}
LOG_INFO("Connection to robot dropped, waiting for new connection.");
handle_program_state_(false);
reverse_interface_->~ReverseInterface();
reverse_interface_.reset(new comm::ReverseInterface(reverse_port_));
reverse_interface_active_ = true;
}
}
std::string UrDriver::readScriptFile(const std::string& filename)
{
std::ifstream ifs(filename);
@@ -126,4 +158,15 @@ std::string UrDriver::readScriptFile(const std::string& filename)
return content;
}
std::string UrDriver::readKeepalive()
{
if (reverse_interface_active_)
{
return reverse_interface_->readKeepalive();
}
else
{
return std::string("");
}
}
} // namespace ur_driver