Obbart/universal_robots_ros_driver
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turn around order of commands and keepalive

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This way we can leave the commands empty very easily
This commit is contained in:
Felix Mauch
2019-06-26 08:46:21 +02:00
parent 1caa2c4a97
commit 8c9f79bc3b
2 changed files with 23 additions and 16 deletions
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23
ur_rtde_driver/include/ur_rtde_driver/comm/reverse_interface.h
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@@ -57,20 +57,23 @@ public:
server_.disconnectClient(); server_.disconnectClient();
} }
bool write(const vector6d_t& positions) bool write(const vector6d_t* positions, const int32_t type = 2)
{ {
uint8_t buffer[sizeof(uint32_t) * 7]; uint8_t buffer[sizeof(uint32_t) * 7];
uint8_t* b_pos = buffer; uint8_t* b_pos = buffer;
for (auto const& pos : positions)
{
int32_t val = static_cast<int32_t>(pos * MULT_JOINTSTATE);
val = htobe32(val);
b_pos += append(b_pos, val);
}
// TODO: Make this a parameter: Number of allowed missed packages int32_t val = htobe32(type);
int32_t val = htobe32(5); b_pos += append(b_pos, val);
append(b_pos, val);
if (positions != nullptr)
{
for (auto const& pos : *positions)
{
int32_t val = static_cast<int32_t>(pos * MULT_JOINTSTATE);
val = htobe32(val);
b_pos += append(b_pos, val);
}
}
size_t written; size_t written;

16
ur_rtde_driver/resources/servoj.urscript
View File

@@ -71,16 +71,20 @@ socket_open("{{SERVER_IP_REPLACE}}", {{SERVER_PORT_REPLACE}}, "reverse_socket")
thread_servo = run servoThread() thread_servo = run servoThread()
keepalive = -2 keepalive = -2
params_mult = socket_read_binary_integer(6+1, "reverse_socket") params_mult = socket_read_binary_integer(1+6, "reverse_socket")
keepalive = params_mult[7] keepalive = params_mult[1]
while keepalive > 0: while keepalive > 0:
enter_critical enter_critical
socket_send_line(1, "reverse_socket") socket_send_line(1, "reverse_socket")
params_mult = socket_read_binary_integer(6+1, "reverse_socket", 0.02) # steptime could work as well, but does not work in simulation params_mult = socket_read_binary_integer(1+6, "reverse_socket", 0.02) # steptime could work as well, but does not work in simulation
if params_mult[0] > 0: if params_mult[0] > 0:
keepalive = params_mult[7] if params_mult[1] > 1:
q = [params_mult[1] / MULT_jointstate, params_mult[2] / MULT_jointstate, params_mult[3] / MULT_jointstate, params_mult[4] / MULT_jointstate, params_mult[5] / MULT_jointstate, params_mult[6] / MULT_jointstate] keepalive = params_mult[1]
set_servo_setpoint(q) q = [params_mult[2] / MULT_jointstate, params_mult[3] / MULT_jointstate, params_mult[4] / MULT_jointstate, params_mult[5] / MULT_jointstate, params_mult[6] / MULT_jointstate, params_mult[7] / MULT_jointstate]
set_servo_setpoint(q)
else:
keepalive = 1
end
else: else:
keepalive = keepalive - 1 keepalive = keepalive - 1
end end