added RTDE writer class and required interfaces for use in the hardware interface

ur_rtde_driver/src/rtde/control_package_setup_inputs.cpp

@@ -46,5 +46,25 @@ std::string ControlPackageSetupInputs::toString() const
 
   return ss.str();
 }
+
+size_t ControlPackageSetupInputsRequest::generateSerializedRequest(uint8_t* buffer,
+                                                                   std::vector<std::string> variable_names)
+{
+  if (variable_names.size() == 0)
+  {
+    return 0;
+  }
+  std::string variables;
+  for (const auto& piece : variable_names)
+    variables += (piece + ",");
+  variables.pop_back();
+  uint16_t payload_size = sizeof(double) + variables.size();
+
+  size_t size = 0;
+  size += PackageHeader::serializeHeader(buffer, PACKAGE_TYPE, payload_size);
+  size += comm::PackageSerializer::serialize(buffer + size, variables);
+
+  return size;
+}
 }  // namespace rtde_interface
 }  // namespace ur_driver

ur_rtde_driver/src/rtde/rtde_client.cpp

@@ -32,12 +32,14 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
-RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::string& recipe_file)
+RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::string& output_recipe_file,
+                       const std::string& input_recipe_file)
   : stream_(robot_ip, UR_RTDE_PORT)
-  , recipe_(readRecipe(recipe_file))
+  , recipe_(readRecipe(output_recipe_file))
   , parser_(recipe_)
   , prod_(stream_, parser_)
   , pipeline_(prod_, PIPELINE_NAME, notifier)
+  , writer_(&stream_, input_recipe_file)
   , max_frequency_(URE_MAX_FREQUENCY)
 {
 }
@@ -137,5 +139,10 @@ std::string RTDEClient::getIP() const
 {
   return stream_.getIP();
 }
+
+RTDEWriter& RTDEClient::getWriter()
+{
+  return writer_;
+}
 }  // namespace rtde_interface
 }  // namespace ur_driver

ur_rtde_driver/src/rtde/rtde_writer.cpp

@@ -0,0 +1,69 @@
+// 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    2019-07-25
+ *
+ */
+//----------------------------------------------------------------------
+
+#include "ur_rtde_driver/rtde/rtde_writer.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+RTDEWriter::RTDEWriter(comm::URStream<PackageHeader>* stream, const std::string& recipe_file) : stream_(stream)
+{
+}
+
+bool RTDEWriter::init(uint8_t recipe_id)
+{
+  return false;
+}
+bool RTDEWriter::start()
+{
+  return false;
+}
+
+bool RTDEWriter::sendSpeedSlider(double speed_slider_fraction)
+{
+  return false;
+}
+bool RTDEWriter::sendStandardDigitalOutput(uint8_t output_pin, bool value)
+{
+  return false;
+}
+bool RTDEWriter::sendConfigurableDigitalOutput(uint8_t output_pin, bool value)
+{
+  return false;
+}
+bool RTDEWriter::sendToolDigitalOutput(bool value)
+{
+  return false;
+}
+bool RTDEWriter::sendStandardAnalogOuput(uint8_t output_pin, bool value)
+{
+  return false;
+}
+
+}  // namespace rtde_interface
+}  // namespace ur_driver