Obbart/universal_robots_ros_driver
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added exceptions for problems in rtde client handshake

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This commit is contained in:
Tristan Schnell
2019-06-12 13:28:35 +02:00
parent adacb219c7
commit 5eed6327ba
1 changed files with 7 additions and 5 deletions
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12
ur_rtde_driver/src/rtde/rtde_client.cpp
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@@ -53,7 +53,8 @@ bool RTDEClient::init()
size = RequestProtocolVersionRequest::generateSerializedRequest(buffer, protocol_version); size = RequestProtocolVersionRequest::generateSerializedRequest(buffer, protocol_version);
stream_.write(buffer, size, written); stream_.write(buffer, size, written);
std::unique_ptr<comm::URPackage<PackageHeader>> package; std::unique_ptr<comm::URPackage<PackageHeader>> package;
pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000)); if (!pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000)))
throw UrException("Could not get urcontrol version from robot. This should not happen!");
rtde_interface::RequestProtocolVersion* tmp_version = rtde_interface::RequestProtocolVersion* tmp_version =
dynamic_cast<rtde_interface::RequestProtocolVersion*>(package.get()); dynamic_cast<rtde_interface::RequestProtocolVersion*>(package.get());
if (!tmp_version->accepted_) if (!tmp_version->accepted_)
@@ -61,12 +62,12 @@ bool RTDEClient::init()
protocol_version = 1; protocol_version = 1;
size = RequestProtocolVersionRequest::generateSerializedRequest(buffer, protocol_version); size = RequestProtocolVersionRequest::generateSerializedRequest(buffer, protocol_version);
stream_.write(buffer, size, written); stream_.write(buffer, size, written);
pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000)); if (!pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000)))
throw UrException("Could not get urcontrol version from robot. This should not happen!");
tmp_version = dynamic_cast<rtde_interface::RequestProtocolVersion*>(package.get()); tmp_version = dynamic_cast<rtde_interface::RequestProtocolVersion*>(package.get());
if (!tmp_version->accepted_) if (!tmp_version->accepted_)
{ {
LOG_ERROR("Could not negotiate protocol version"); throw UrException("Neither protocol version 1 nor 2 were accepted by the robot. This should not happen!");
return false;
} }
} }
@@ -108,7 +109,8 @@ bool RTDEClient::start()
size = ControlPackageStartRequest::generateSerializedRequest(buffer); size = ControlPackageStartRequest::generateSerializedRequest(buffer);
std::unique_ptr<comm::URPackage<PackageHeader>> package; std::unique_ptr<comm::URPackage<PackageHeader>> package;
stream_.write(buffer, size, written); stream_.write(buffer, size, written);
pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000)); if (!pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000)))
throw UrException("Could not get respone to rtde communication start request from robot. This should not happen!");
rtde_interface::ControlPackageStart* tmp = dynamic_cast<rtde_interface::ControlPackageStart*>(package.get()); rtde_interface::ControlPackageStart* tmp = dynamic_cast<rtde_interface::ControlPackageStart*>(package.get());
return tmp->accepted_; return tmp->accepted_;
} }