Obbart/universal_robots_ros_driver
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Added clang formatting

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This commit is contained in:
Simon Rasmussen
2017-02-16 02:03:40 +01:00
parent e00cfac0ee
commit a78d3eadf3
46 changed files with 4476 additions and 4212 deletions
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93
src/ros_main.cpp
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@@ -1,18 +1,18 @@
#include <cstdlib>
#include <string>
#include <chrono>
#include <thread>
#include <cstdlib>
#include <ros/ros.h>
#include <string>
#include <thread>
#include "ur_modern_driver/log.h"
#include "ur_modern_driver/pipeline.h"
#include "ur_modern_driver/ur/producer.h"
#include "ur_modern_driver/ur/state.h"
#include "ur_modern_driver/ur/rt_state.h"
#include "ur_modern_driver/ur/parser.h"
#include "ur_modern_driver/ur/messages.h"
#include "ur_modern_driver/ur/factory.h"
#include "ur_modern_driver/ros/rt_publisher.h"
#include "ur_modern_driver/ur/factory.h"
#include "ur_modern_driver/ur/messages.h"
#include "ur_modern_driver/ur/parser.h"
#include "ur_modern_driver/ur/producer.h"
#include "ur_modern_driver/ur/rt_state.h"
#include "ur_modern_driver/ur/state.h"
static const std::string IP_ADDR_ARG("~robot_ip_address");
static const std::string REVERSE_PORT_ARG("~reverse_port");
@@ -21,48 +21,48 @@ static const std::string PREFIX_ARG("~prefix");
static const std::string BASE_FRAME_ARG("~base_frame");
static const std::string TOOL_FRAME_ARG("~tool_frame");
struct ProgArgs {
public:
std::string host;
std::string prefix;
std::string base_frame;
std::string tool_frame;
int32_t reverse_port;
bool use_sim_time;
std::string host;
std::string prefix;
std::string base_frame;
std::string tool_frame;
int32_t reverse_port;
bool use_sim_time;
};
bool parse_args(ProgArgs &args) {
if(!ros::param::get(IP_ADDR_ARG, args.host)) {
LOG_ERROR("robot_ip_address parameter must be set!");
return false;
}
ros::param::param(REVERSE_PORT_ARG, args.reverse_port, int32_t(50001));
ros::param::param(SIM_TIME_ARG, args.use_sim_time, false);
ros::param::param(PREFIX_ARG, args.prefix, std::string());
ros::param::param(BASE_FRAME_ARG, args.base_frame, args.prefix + "base_link");
ros::param::param(TOOL_FRAME_ARG, args.tool_frame, args.prefix + "tool0_controller");
return true;
bool parse_args(ProgArgs& args)
{
if (!ros::param::get(IP_ADDR_ARG, args.host)) {
LOG_ERROR("robot_ip_address parameter must be set!");
return false;
}
ros::param::param(REVERSE_PORT_ARG, args.reverse_port, int32_t(50001));
ros::param::param(SIM_TIME_ARG, args.use_sim_time, false);
ros::param::param(PREFIX_ARG, args.prefix, std::string());
ros::param::param(BASE_FRAME_ARG, args.base_frame, args.prefix + "base_link");
ros::param::param(TOOL_FRAME_ARG, args.tool_frame, args.prefix + "tool0_controller");
return true;
}
int main(int argc, char **argv) {
int main(int argc, char** argv)
{
ros::init(argc, argv, "ur_driver");
ProgArgs args;
if(!parse_args(args)) {
return EXIT_FAILURE;
}
ProgArgs args;
if (!parse_args(args)) {
return EXIT_FAILURE;
}
URFactory factory(args.host);
URFactory factory(args.host);
auto parser = factory.get_rt_parser();
auto parser = factory.get_rt_parser();
URStream s2(args.host, 30003);
URProducer<RTPacket> p2(s2, *parser);
URStream s2(args.host, 30003);
URProducer<RTPacket> p2(s2, *parser);
/*
/*
p2.setup_producer();
while(true) {
@@ -77,18 +77,17 @@ int main(int argc, char **argv) {
p2.teardown_producer();
*/
RTPublisher pub(args.prefix, args.base_frame);
RTPublisher pub(args.prefix, args.base_frame);
Pipeline<RTPacket> pl(p2, pub);
Pipeline<RTPacket> pl(p2, pub);
pl.run();
pl.run();
while(ros::ok()) {
std::this_thread::sleep_for(std::chrono::milliseconds(33));
}
while (ros::ok()) {
std::this_thread::sleep_for(std::chrono::milliseconds(33));
}
pl.stop();
pl.stop();
return EXIT_SUCCESS;
return EXIT_SUCCESS;
}