From bf8d69e219a84abf268cd9c3dbf2a508ae438a6d Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Tue, 9 Apr 2019 18:24:57 +0200
Subject: [PATCH] Added  test executable

---
 CMakeLists.txt   |  6 +++++
 src/producer.cpp | 57 ++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 63 insertions(+)
 create mode 100644 src/producer.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ad9fe17..02e9c4f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -90,6 +90,12 @@ add_library(ur_rtde_driver
 target_link_libraries(ur_rtde_driver ${catkin_LIBRARIES})
 add_dependencies(ur_rtde_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
+add_executable(producer
+  src/producer.cpp
+)
+target_link_libraries(producer ${catkin_LIBRARIES} ur_rtde_driver)
+add_dependencies(producer ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
 install(TARGETS ur_rtde_driver
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/src/producer.cpp b/src/producer.cpp
new file mode 100644
index 0000000..abd689c
--- /dev/null
+++ b/src/producer.cpp
@@ -0,0 +1,57 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2018-12-11
+ *
+ */
+//----------------------------------------------------------------------
+#include <ur_rtde_driver/comm/producer.h>
+#include <ur_rtde_driver/comm/shell_consumer.h>
+#include <ur_rtde_driver/comm/stream.h>
+#include <ur_rtde_driver/comm/parser.h>
+#include <ur_rtde_driver/comm/pipeline.h>
+
+#include <ur_rtde_driver/primary/package_header.h>
+#include <ur_rtde_driver/primary/primary_parser.h>
+
+static const int UR_PRIMARY_PORT = 30001;
+static const int UR_SECONDARY_PORT = 30002;
+static const int UR_RT_PORT = 30003;
+
+using namespace ur_driver;
+using namespace primary_interface;
+
+int main(int argc, char* argv[])
+{
+  std::string ROBOT_IP = "192.168.56.101";
+  // std::string ROBOT_IP = "192.168.0.104";
+  comm::URStream<PackageHeader> stream(ROBOT_IP, UR_PRIMARY_PORT);
+
+  if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug))
+  {
+    ros::console::notifyLoggerLevelsChanged();
+  }
+
+  primary_interface::PrimaryParser parser;
+  comm::URProducer<PackageHeader> prod(stream, parser);
+  comm::ShellConsumer<PackageHeader> consumer;
+
+  comm::INotifier notifier;
+
+  comm::Pipeline<PackageHeader> pipeline(prod, consumer, "Pipeline", notifier);
+  LOG_INFO("Running now");
+  pipeline.run();
+  while (true)
+  {
+    sleep(1);
+    // LOG_INFO("Still running");
+  }
+
+  return 0;
+}