Obbart/universal_robots_ros_driver
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added the rtde client class that initializes the rtde handshake and

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allows reading of data packages
This commit is contained in:
Tristan Schnell
2019-04-10 17:43:44 +02:00
parent 89ee72ac2d
commit 742bc11c8f
4 changed files with 132 additions and 2 deletions
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4
include/ur_rtde_driver/comm/pipeline.h
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@@ -181,9 +181,9 @@ public:
notifier_.stopped(name_);
}
bool getLatestProduct(std::unique_ptr<URPackage<HeaderT>> product, std::chrono::milliseconds timeout)
bool getLatestProduct(std::unique_ptr<URPackage<HeaderT>>& product, std::chrono::milliseconds timeout)
{
return !queue_.wait_dequeue_timed(product, timeout);
return queue_.wait_dequeue_timed(product, timeout);
}
private:

65
include/ur_rtde_driver/rtde/rtde_client.h Normal file
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@@ -0,0 +1,65 @@
// 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 Tristan Schnell schnell@fzi.de
* \date 2019-04-10
*
*/
//----------------------------------------------------------------------
#ifndef UR_RTDE_DRIVER_RTDE_CLIENT_H_INCLUDED
#define UR_RTDE_DRIVER_RTDE_CLIENT_H_INCLUDED
#include "ur_rtde_driver/comm/pipeline.h"
#include "ur_rtde_driver/rtde/package_header.h"
#include "ur_rtde_driver/rtde/rtde_package.h"
#include "ur_rtde_driver/comm/stream.h"
#include "ur_rtde_driver/rtde/rtde_parser.h"
#include "ur_rtde_driver/comm/producer.h"
#include "ur_rtde_driver/rtde/data_package.h"
#include "ur_rtde_driver/rtde/request_protocol_version.h"
static const int UR_RTDE_PORT = 30004;
static const std::string PIPELINE_NAME = "RTDE Data Pipeline";
namespace ur_driver
{
namespace rtde_interface
{
class RTDEClient
{
public:
RTDEClient() = delete;
RTDEClient(std::string ROBOT_IP, comm::INotifier& notifier);
~RTDEClient() = default;
bool getDataPackage(std::unique_ptr<comm::URPackage<PackageHeader>>& data_package, std::chrono::milliseconds timeout);
private:
comm::URStream<PackageHeader> stream_;
RTDEParser parser_;
comm::URProducer<PackageHeader> prod_;
comm::Pipeline<PackageHeader> pipeline_;
};
} // namespace rtde_interface
} // namespace ur_driver
#endif // UR_RTDE_DRIVER_RTDE_CLIENT_H_INCLUDED