renamed package

include/ur_rtde_driver/ur/producer.h

@@ -0,0 +1,83 @@
+/*
+ * Copyright 2017, 2018 Simon Rasmussen (refactor)
+ *
+ * Copyright 2015, 2016 Thomas Timm Andersen (original version)
+ *
+ * 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.
+ */
+
+#pragma once
+#include <chrono>
+#include "ur_rtde_driver/pipeline.h"
+#include "ur_rtde_driver/ur/parser.h"
+#include "ur_rtde_driver/ur/stream.h"
+
+template <typename T>
+class URProducer : public IProducer<T>
+{
+private:
+  URStream& stream_;
+  URParser<T>& parser_;
+  std::chrono::seconds timeout_;
+
+public:
+  URProducer(URStream& stream, URParser<T>& parser) : stream_(stream), parser_(parser), timeout_(1)
+  {
+  }
+
+  void setupProducer()
+  {
+    stream_.connect();
+  }
+  void teardownProducer()
+  {
+    stream_.disconnect();
+  }
+  void stopProducer()
+  {
+    stream_.disconnect();
+  }
+
+  bool tryGet(std::vector<unique_ptr<T>>& products)
+  {
+    // 4KB should be enough to hold any packet received from UR
+    uint8_t buf[4096];
+    size_t read = 0;
+    // expoential backoff reconnects
+    while (true)
+    {
+      if (stream_.read(buf, sizeof(buf), read))
+      {
+        // reset sleep amount
+        timeout_ = std::chrono::seconds(1);
+        break;
+      }
+
+      if (stream_.closed())
+        return false;
+
+      LOG_WARN("Failed to read from stream, reconnecting in %ld seconds...", timeout_.count());
+      std::this_thread::sleep_for(timeout_);
+
+      if (stream_.connect())
+        continue;
+
+      auto next = timeout_ * 2;
+      if (next <= std::chrono::seconds(120))
+        timeout_ = next;
+    }
+
+    BinParser bp(buf, read);
+    return parser_.parse(bp, products);
+  }
+};