Obbart/universal_robots_ros_driver
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Code Releases Activity

moved rtde recipe to external text file

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This commit is contained in:
Tristan Schnell
2019-05-23 15:03:39 +02:00
parent 876d4a06f5
commit 649f499499
8 changed files with 37 additions and 17 deletions
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23
ur_rtde_driver/src/rtde/rtde_client.cpp
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@@ -31,9 +31,10 @@ namespace ur_driver
{
namespace rtde_interface
{
RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier)
RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::string& recipe_file)
: stream_(robot_ip, UR_RTDE_PORT)
, parser_(readRecipe())
, recipe_(readRecipe(recipe_file))
, parser_(recipe_)
, prod_(stream_, parser_)
, pipeline_(prod_, PIPELINE_NAME, notifier)
, max_frequency_(URE_MAX_FREQUENCY)
@@ -83,11 +84,11 @@ bool RTDEClient::init()
LOG_INFO("Setting up RTDE communication with frequency %f", max_frequency_);
if (protocol_version == 2)
{
size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, max_frequency_, readRecipe());
size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, max_frequency_, recipe_);
}
else
{
size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, readRecipe());
size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, recipe_);
}
stream_.write(buffer, size, written);
return pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000));
@@ -104,14 +105,16 @@ bool RTDEClient::start()
rtde_interface::ControlPackageStart* tmp = dynamic_cast<rtde_interface::ControlPackageStart*>(package.get());
return tmp->accepted_;
}
std::vector<std::string> RTDEClient::readRecipe()
std::vector<std::string> RTDEClient::readRecipe(const std::string& recipe_file)
{
std::vector<std::string> recipe;
recipe.push_back("timestamp");
recipe.push_back("actual_q");
recipe.push_back("actual_qd");
recipe.push_back("speed_scaling");
recipe.push_back("target_speed_fraction");
std::ifstream file(recipe_file);
std::string line;
while (std::getline(file, line))
{
recipe.push_back(line);
}
recipe_ = recipe;
return recipe;
}