mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 01:50:46 +02:00
71 lines
1.7 KiB
C++
71 lines
1.7 KiB
C++
/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Copyright 2015, 2016 Thomas Timm Andersen (original version)
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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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#pragma once
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#include <netdb.h>
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#include <sys/socket.h>
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#include <sys/types.h>
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#include <atomic>
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#include <mutex>
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#include <string>
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#include "ur_rtde_driver/log.h"
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#include "ur_rtde_driver/comm/tcp_socket.h"
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namespace ur_rtde_driver
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{
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namespace comm
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{
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class URStream : public TCPSocket
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{
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private:
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std::string host_;
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int port_;
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std::mutex write_mutex_, read_mutex_;
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protected:
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virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
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{
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return ::connect(socket_fd, address, address_len) == 0;
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}
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public:
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URStream(std::string& host, int port) : host_(host), port_(port)
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{
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}
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bool connect()
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{
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return TCPSocket::setup(host_, port_);
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}
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void disconnect()
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{
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LOG_INFO("Disconnecting from %s:%d", host_.c_str(), port_);
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TCPSocket::close();
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}
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bool closed()
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{
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return getState() == SocketState::Closed;
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}
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bool read(uint8_t* buf, size_t buf_len, size_t& read);
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bool write(const uint8_t* buf, size_t buf_len, size_t& written);
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};
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} // namespace comm
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} // namespace ur_rtde_driver
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