Implemented communication on port 30001 and 30002 - untested

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_ */