mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
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65 lines
1.5 KiB
C++
65 lines
1.5 KiB
C++
/*
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* ur_communication.h
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*
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* Copyright 2015 Thomas Timm Andersen
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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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 "do_output.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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#include <fcntl.h>
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#include <sys/types.h>
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class UrCommunication {
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private:
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int pri_sockfd_, sec_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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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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bool start();
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void halt();
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};
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#endif /* UR_COMMUNICATION_H_ */
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