Implemented communication on port 30001 and 30002 - untested

include/ur_modern_driver/robot_state.h

@@ -0,0 +1,141 @@
+/*
+ * robot_state.h
+ *
+ *  Created on: Sep 10, 2015
+ *      Author: ttan
+ */
+
+#ifndef ROBOT_STATE_H_
+#define ROBOT_STATE_H_
+
+#include <inttypes.h>
+#include <vector>
+#include <stdlib.h>
+#include <string.h>
+#include <mutex>
+#include <condition_variable>
+
+namespace message_types {
+enum message_type {
+	ROBOT_STATE = 16, ROBOT_MESSAGE = 20, PROGRAM_STATE_MESSAGE = 25
+};
+}
+typedef message_types::message_type messageType;
+
+namespace package_types {
+enum package_type {
+	ROBOT_MODE_DATA = 0,
+	JOINT_DATA = 1,
+	TOOL_DATA = 2,
+	MASTERBOARD_DATA = 3,
+	CARTESIAN_INFO = 4,
+	KINEMATICS_INFO = 5,
+	CONFIGURATION_DATA = 6,
+	FORCE_MODE_DATA = 7,
+	ADDITIONAL_INFO = 8,
+	CALIBRATION_DATA = 9
+};
+}
+typedef package_types::package_type packageType;
+
+namespace robot_message_types {
+enum robot_message_type {
+	ROBOT_MESSAGE_TEXT = 0,
+	ROBOT_MESSAGE_PROGRAM_LABEL = 1,
+	PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
+	ROBOT_MESSAGE_VERSION = 3,
+	ROBOT_MESSAGE_SAFETY_MODE = 5,
+	ROBOT_MESSAGE_ERROR_CODE = 6,
+	ROBOT_MESSAGE_KEY = 7,
+	ROBOT_MESSAGE_REQUEST_VALUE = 9,
+	ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
+};
+}
+typedef robot_message_types::robot_message_type robotMessageType;
+
+struct version_message {
+	uint64_t timestamp;
+	int8_t source;
+	int8_t robot_message_type;
+	int8_t project_name_size;
+	char* project_name;
+	uint8_t major_version;
+	uint8_t minor_version;
+	int svn_revision;
+	char* build_date;
+};
+
+struct masterboard_data {
+	int digitalInputBits;
+	int digitalOutputBits;
+	char analogInputRange0;
+	char analogInputRange1;
+	double analogInput0;
+	double analogInput1;
+	char analogOutputDomain0;
+	char analogOutputDomain1;
+	double analogOutput0;
+	double analogOutput1;
+	float masterBoardTemperature;
+	float robotVoltage48V;
+	float robotCurrent;
+	float masterIOCurrent;
+	unsigned char safetyMode;
+	unsigned char InReducedMode;
+	char euromap67InterfaceInstalled;
+	int euromapInputBits;
+	int euromapOutputBits;
+	float euromapVoltage;
+	float euromapCurrent;
+	uint32_t internal;
+
+};
+
+class RobotState {
+private:
+	version_message version_msg_;
+	masterboard_data mb_data_;
+
+	std::mutex val_lock_; // Locks the variables while unpack parses data;
+
+	std::condition_variable* pMsg_cond_; //Signals that new vars are available
+	bool new_data_available_; //to avoid spurious wakes
+
+	double ntohd(uint64_t nf);
+
+public:
+	RobotState(std::condition_variable& msg_cond);
+	~RobotState();
+	double getVersion();
+	double getTime();
+	std::vector<double> getQTarget();
+	int getDigitalInputBits();
+	int getDigitalOutputBits();
+	char getAnalogInputRange0();
+	char getAnalogInputRange1();
+	double getAnalogInput0();
+	double getAnalogInput1();
+	char getAnalogOutputDomain0();
+	char getAnalogOutputDomain1();
+	double getAnalogOutput0();
+	double getAnalogOutput1();
+	float getMasterBoardTemperature();
+	float getRobotVoltage48V();
+	float getRobotCurrent();
+	float getMasterIOCurrent();
+	unsigned char getSafetyMode();
+	unsigned char getInReducedMode();
+	char getEuromap67InterfaceInstalled();
+	int getEuromapInputBits();
+	int getEuromapOutputBits();
+	float getEuromapVoltage();
+	float getEuromapCurrent();
+	bool getNewDataAvailable();
+	void finishedReading();
+	std::vector<double> getVActual();
+	int unpack(uint8_t * buf, unsigned int buf_length);
+	void unpackRobotMessage(uint8_t * buf, unsigned int offset,uint32_t len);
+	void unpackRobotState(uint8_t * buf, unsigned int offset, uint32_t len);
+};
+
+#endif /* ROBOT_STATE_H_ */

include/ur_modern_driver/ur_communication.h

@@ -0,0 +1,56 @@
+/*
+ * ur_communication.h
+ *
+ * ----------------------------------------------------------------------------
+ * "THE BEER-WARE LICENSE" (Revision 42):
+ * <thomas.timm.dk@gmail.com> wrote this file.  As long as you retain this notice you
+ * can do whatever you want with this stuff. If we meet some day, and you think
+ * this stuff is worth it, you can buy me a beer in return.   Thomas Timm Andersen
+ * ----------------------------------------------------------------------------
+ */
+
+#ifndef UR_COMMUNICATION_H_
+#define UR_COMMUNICATION_H_
+
+#include "robot_state.h"
+#include <vector>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/time.h>
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netinet/tcp.h>
+#include <netdb.h>
+#include <iostream>
+#include <unistd.h>
+#include <chrono>
+
+class UrCommunication {
+private:
+	int sockfd_;
+	struct sockaddr_in pri_serv_addr_, sec_serv_addr_;
+	struct hostent *server_;
+	bool keepalive_;
+	std::thread comThread_;
+	int flag_;
+	std::recursive_mutex command_string_lock_;
+	std::string command_;
+	void run();
+
+public:
+	bool connected_;
+	RobotState* robot_state_;
+
+	UrCommunication(std::condition_variable& msg_cond, std::string host);
+	void start();
+	void halt();
+	void addCommandToQueue(std::string inp);
+
+};
+
+#endif /* UR_COMMUNICATION_H_ */