Obbart/universal_robots_ros_driver
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implemented initialization of rs485 interface.

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This commit is contained in:
Felix Mauch
2019-06-06 17:36:06 +02:00
parent e4a2e9e743
commit 4cd13b6b83
10 changed files with 495 additions and 3 deletions
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53
ur_rtde_driver/src/ur/tool_communication.cpp Normal file
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@@ -0,0 +1,53 @@
// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2019 FZI Forschungszentrum Informatik
//
// 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.
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
/*!\file
*
* \author Felix Mauch mauch@fzi.de
* \date 2019-06-06
*
*/
//----------------------------------------------------------------------
#include "ur_rtde_driver/ur/tool_communication.h"
namespace ur_driver
{
ToolCommSetup::ToolCommSetup()
: tool_voltage_(ToolVoltage::OFF)
, parity_(Parity::ODD)
, baud_rate_(9600)
, stop_bits_(1, 2)
, rx_idle_chars_(1.0, 40.0)
, tx_idle_chars_(0.0, 40.0)
{
}
void ToolCommSetup::setBaudRate(const uint32_t baud_rate)
{
if (baud_rates_.find(baud_rate) != baud_rates_.end())
{
baud_rate_ = baud_rate;
}
else
{
throw std::runtime_error("Provided baud rate is not allowed");
}
}
} // namespace ur_driver

18
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -38,13 +38,15 @@
namespace ur_driver
{
static const int32_t MULT_JOINTSTATE = 1000000;
static const std::string BEGIN_REPLACE("{{BEGIN_REPLACE}}");
static const std::string JOINT_STATE_REPLACE("{{JOINT_STATE_REPLACE}}");
static const std::string SERVO_J_REPLACE("{{SERVO_J_REPLACE}}");
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, std::function<void(bool)> handle_program_state)
const std::string& recipe_file, std::function<void(bool)> handle_program_state,
std::unique_ptr<ToolCommSetup> tool_comm_setup)
: servoj_time_(0.008)
, servoj_gain_(2000)
, servoj_lookahead_time_(0.03)
@@ -80,6 +82,20 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
prog.replace(prog.find(SERVER_IP_REPLACE), SERVER_IP_REPLACE.length(), local_ip);
prog.replace(prog.find(SERVER_PORT_REPLACE), SERVER_PORT_REPLACE.length(), std::to_string(reverse_port));
std::stringstream begin_replace;
if (tool_comm_setup != nullptr)
{
begin_replace << "set_tool_voltage("
<< static_cast<std::underlying_type<ToolVoltage>::type>(tool_comm_setup->getToolVoltage()) << ")\n";
begin_replace << "set_tool_communication("
<< "True"
<< ", " << tool_comm_setup->getBaudRate() << ", "
<< static_cast<std::underlying_type<Parity>::type>(tool_comm_setup->getParity()) << ", "
<< tool_comm_setup->getStopBits() << ", " << tool_comm_setup->getRxIdleChars() << ", "
<< tool_comm_setup->getTxIdleChars() << ")";
}
prog.replace(prog.find(BEGIN_REPLACE), BEGIN_REPLACE.length(), begin_replace.str());
script_sender_.reset(new comm::ScriptSender(script_sender_port, prog));
script_sender_->start();
LOG_INFO("Created script sender");