Big code dump

include/ur_modern_driver/ur/commander.h

@@ -17,11 +17,12 @@ public:
   {
   }
 
+  virtual bool uploadProg(std::string &s);
   virtual bool speedj(std::array<double, 6> &speeds, double acceleration);
   virtual bool stopj(double a = 10.0);
   virtual bool setDigitalOut(uint8_t pin, bool value);
   virtual bool setAnalogOut(uint8_t pin, double value);
   virtual bool setToolVoltage(uint8_t voltage);
-  virtual bool setFlag(bool value);
+  virtual bool setFlag(uint8_t pin, bool value);
   virtual bool setPayload(double value);
 };

include/ur_modern_driver/ur/robot_mode.h

@@ -16,6 +16,7 @@ public:
   bool real_robot_enabled;
   bool robot_power_on;
   bool emergency_stopped;
+  bool protective_stopped; //AKA security_stopped
   bool program_running;
   bool program_paused;
 
@@ -43,7 +44,6 @@ public:
   virtual bool parseWith(BinParser& bp);
   virtual bool consumeWith(URStatePacketConsumer& consumer);
 
-  bool security_stopped;
   robot_mode_V1_X robot_mode;
   double speed_fraction;
 
@@ -79,7 +79,6 @@ public:
   virtual bool parseWith(BinParser& bp);
   virtual bool consumeWith(URStatePacketConsumer& consumer);
 
-  bool protective_stopped;
 
   robot_mode_V3_X robot_mode;
   robot_control_mode_V3_X control_mode;

include/ur_modern_driver/ur/server.h

@@ -0,0 +1,19 @@
+#pragma once
+#include <netdb.h>
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <cstdlib>
+#include <mutex>
+#include <atomic>
+#include <string>
+#include "ur_modern_driver/ur/stream.h"
+
+class URServer
+{
+private:
+  int socket_fd_ = -1;
+
+public:
+  URServer(int port);
+  URStream accept();
+};

include/ur_modern_driver/ur/stream.h

@@ -19,15 +19,38 @@ private:
   std::mutex send_mutex_, receive_mutex_;
 
 public:
+  URStream() 
+  {
+  }
+
   URStream(std::string& host, int port) : host_(host), port_(port), initialized_(false), stopping_(false)
   {
   }
 
+  URStream(int socket_fd) : socket_fd_(socket_fd), initialized_(true), stopping_(false)
+  {
+    
+  }
+
+  URStream(URStream&& other) noexcept : socket_fd_(other.socket_fd_), host_(other.host_), initialized_(other.initialized_.load()), stopping_(other.stopping_.load())
+  {
+    
+  }
+
   ~URStream()
   {
     disconnect();
   }
 
+  URStream& operator=(URStream&& other)
+  {
+    socket_fd_ = std::move(other.socket_fd_);
+    host_ = std::move(other.host_); 
+    initialized_ = std::move(other.initialized_.load());
+    stopping_ = std::move(other.stopping_.load());
+    return *this;
+  }
+
   bool connect();
   void disconnect();
   void reconnect();