Obbart/universal_robots_ros_driver
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added RTDE write setup functionality to handshake

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This commit is contained in:
Tristan Schnell
2019-07-30 13:02:32 +02:00
parent 5040a12e7c
commit 8a48b5019c
2 changed files with 18 additions and 2 deletions
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1
ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
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@@ -81,6 +81,7 @@ public:
private: private:
comm::URStream<PackageHeader> stream_; comm::URStream<PackageHeader> stream_;
std::vector<std::string> recipe_; std::vector<std::string> recipe_;
std::vector<std::string> input_recipe_;
RTDEParser parser_; RTDEParser parser_;
comm::URProducer<PackageHeader> prod_; comm::URProducer<PackageHeader> prod_;
comm::Pipeline<PackageHeader> pipeline_; comm::Pipeline<PackageHeader> pipeline_;

19
ur_rtde_driver/src/rtde/rtde_client.cpp
View File

@@ -36,6 +36,7 @@ RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const st
const std::string& input_recipe_file) const std::string& input_recipe_file)
: stream_(robot_ip, UR_RTDE_PORT) : stream_(robot_ip, UR_RTDE_PORT)
, recipe_(readRecipe(output_recipe_file)) , recipe_(readRecipe(output_recipe_file))
, input_recipe_(readRecipe(input_recipe_file))
, parser_(recipe_) , parser_(recipe_)
, prod_(stream_, parser_) , prod_(stream_, parser_)
, pipeline_(prod_, PIPELINE_NAME, notifier) , pipeline_(prod_, PIPELINE_NAME, notifier)
@@ -101,7 +102,22 @@ bool RTDEClient::init()
size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, recipe_); size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, recipe_);
} }
stream_.write(buffer, size, written); stream_.write(buffer, size, written);
return pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000)); pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000));
// sending input recipe
size = ControlPackageSetupInputsRequest::generateSerializedRequest(buffer, input_recipe_);
stream_.write(buffer, size, written);
bool success = pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000));
rtde_interface::ControlPackageSetupInputs* tmp_input =
dynamic_cast<rtde_interface::ControlPackageSetupInputs*>(package.get());
if (tmp_input == nullptr)
{
throw UrException("Could not setup RTDE inputs.");
}
writer_.init(tmp_input->input_recipe_id_);
pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000));
return success;
} }
bool RTDEClient::start() bool RTDEClient::start()
{ {
@@ -125,7 +141,6 @@ std::vector<std::string> RTDEClient::readRecipe(const std::string& recipe_file)
{ {
recipe.push_back(line); recipe.push_back(line);
} }
recipe_ = recipe;
return recipe; return recipe;
} }