mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
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57 lines
1.4 KiB
C++
57 lines
1.4 KiB
C++
/*
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* ur_communication.h
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*
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* ----------------------------------------------------------------------------
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* "THE BEER-WARE LICENSE" (Revision 42):
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* <thomas.timm.dk@gmail.com> wrote this file. As long as you retain this notice you
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* can do whatever you want with this stuff. If we meet some day, and you think
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* this stuff is worth it, you can buy me a beer in return. Thomas Timm Andersen
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* ----------------------------------------------------------------------------
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*/
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#ifndef UR_COMMUNICATION_H_
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#define UR_COMMUNICATION_H_
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#include "robot_state.h"
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#include <vector>
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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#include <sys/time.h>
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#include <thread>
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#include <mutex>
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#include <condition_variable>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <netinet/tcp.h>
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#include <netdb.h>
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#include <iostream>
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#include <unistd.h>
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#include <chrono>
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class UrCommunication {
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private:
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int sockfd_;
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struct sockaddr_in pri_serv_addr_, sec_serv_addr_;
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struct hostent *server_;
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bool keepalive_;
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std::thread comThread_;
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int flag_;
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std::recursive_mutex command_string_lock_;
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std::string command_;
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void run();
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public:
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bool connected_;
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RobotState* robot_state_;
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UrCommunication(std::condition_variable& msg_cond, std::string host);
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void start();
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void halt();
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void addCommandToQueue(std::string inp);
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};
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#endif /* UR_COMMUNICATION_H_ */
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