2929#define UR_CLIENT_LIBRARY_REVERSE_INTERFACE_H_INCLUDED
3030
3131#include " ur_client_library/comm/tcp_server.h"
32+ #include " ur_client_library/comm/control_mode.h"
3233#include " ur_client_library/types.h"
3334#include " ur_client_library/log.h"
3435#include < cstring>
3738
3839namespace urcl
3940{
40- namespace comm
41+ namespace control
4142{
42- /* !
43- * \brief Control modes as interpreted from the script runnning on the robot.
44- */
45- enum class ControlMode : int32_t
46- {
47- MODE_STOPPED = -2 , // /< When this is set, the program is expected to stop and exit.
48- MODE_UNINITIALIZED = -1 , // /< Startup default until another mode is sent to the script.
49- MODE_IDLE = 0 , // /< Set when no controller is currently active controlling the robot.
50- MODE_SERVOJ = 1 , // /< Set when servoj control is active.
51- MODE_SPEEDJ = 2 // /< Set when speedj control is active.
52- };
53-
5443/* !
5544 * \brief The ReverseInterface class handles communication to the robot. It starts a server and
5645 * waits for the robot to connect via its URCaps program.
@@ -65,67 +54,23 @@ class ReverseInterface
6554 * \param port Port the Server is started on
6655 * \param handle_program_state Function handle to a callback on program state changes.
6756 */
68- ReverseInterface (uint32_t port, std::function<void (bool )> handle_program_state)
69- : client_fd_(-1 ), server_(port), handle_program_state_(handle_program_state), keepalive_count_(1 )
70- {
71- handle_program_state_ (false );
72- server_.setMessageCallback (
73- std::bind (&ReverseInterface::messageCallback, this , std::placeholders::_1, std::placeholders::_2));
74- server_.setConnectCallback (std::bind (&ReverseInterface::connectionCallback, this , std::placeholders::_1));
75- server_.setDisconnectCallback (std::bind (&ReverseInterface::disconnectionCallback, this , std::placeholders::_1));
76- server_.setMaxClientsAllowed (1 );
77- server_.start ();
78- }
57+ ReverseInterface (uint32_t port, std::function<void (bool )> handle_program_state);
58+
7959 /* !
8060 * \brief Disconnects possible clients so the reverse interface object can be safely destroyed.
8161 */
82- ~ReverseInterface ()
83- {
84- }
62+ ~ReverseInterface () = default ;
8563
8664 /* !
8765 * \brief Writes needed information to the robot to be read by the URCaps program.
8866 *
8967 * \param positions A vector of joint targets for the robot
90- * \param control_mode Control mode assigned to this command. See documentation of ::ControlMode
68+ * \param control_mode Control mode assigned to this command. See documentation of comm ::ControlMode
9169 * for details on possible values.
9270 *
9371 * \returns True, if the write was performed successfully, false otherwise.
9472 */
95- bool write (const vector6d_t * positions, const ControlMode control_mode = ControlMode::MODE_IDLE)
96- {
97- if (client_fd_ == -1 )
98- {
99- return false ;
100- }
101- uint8_t buffer[sizeof (int32_t ) * 8 ];
102- uint8_t * b_pos = buffer;
103-
104- // The first element is always the keepalive signal.
105- int32_t val = htobe32 (keepalive_count_);
106- b_pos += append (b_pos, val);
107-
108- if (positions != nullptr )
109- {
110- for (auto const & pos : *positions)
111- {
112- int32_t val = static_cast <int32_t >(pos * MULT_JOINTSTATE);
113- val = htobe32 (val);
114- b_pos += append (b_pos, val);
115- }
116- }
117- else
118- {
119- b_pos += 6 * sizeof (int32_t );
120- }
121-
122- val = htobe32 (toUnderlying (control_mode));
123- b_pos += append (b_pos, val);
124-
125- size_t written;
126-
127- return server_.write (client_fd_, buffer, sizeof (buffer), written);
128- }
73+ bool write (const vector6d_t * positions, const comm::ControlMode control_mode = comm::ControlMode::MODE_IDLE);
12974
13075 /* !
13176 * \brief Set the Keepalive count. This will set the number of allowed timeout reads on the robot.
@@ -138,36 +83,14 @@ class ReverseInterface
13883 }
13984
14085private:
141- void connectionCallback (const int filedescriptor)
142- {
143- if (client_fd_ < 0 )
144- {
145- URCL_LOG_INFO (" Robot connected to reverse interface. Ready to receive control commands."
146- client_fd_ = filedescriptor;
147- handle_program_state_ (true );
148- }
149- else
150- {
151- URCL_LOG_ERROR (" Connection request to ReverseInterface received while connection already established. Only one "
152- " connection is allowed at a time. Ignoring this request."
153- }
154- }
86+ void connectionCallback (const int filedescriptor);
15587
156- void disconnectionCallback (const int filedescriptor)
157- {
158- URCL_LOG_INFO (" Connection to reverse interface dropped."
159- client_fd_ = -1 ;
160- handle_program_state_ (false );
161- }
88+ void disconnectionCallback (const int filedescriptor);
16289
163- void messageCallback (const int filedescriptor, char * buffer)
164- {
165- URCL_LOG_WARN (" Messge on ReverseInterface received. The reverse interface currently does not support any message "
166- " handling. This message will be ignored."
167- }
90+ void messageCallback (const int filedescriptor, char * buffer);
16891
16992 int client_fd_;
170- TCPServer server_;
93+ comm:: TCPServer server_;
17194
17295 static const int32_t MULT_JOINTSTATE = 1000000 ;
17396
@@ -183,7 +106,7 @@ class ReverseInterface
183106 uint32_t keepalive_count_;
184107};
185108
186- } // namespace comm
109+ } // namespace control
187110} // namespace urcl
188111
189112#endif // UR_CLIENT_LIBRARY_REVERSE_INTERFACE_H_INCLUDED
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