-
Notifications
You must be signed in to change notification settings - Fork 90
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Added interface for forwarding script commands to the robot, that is … (
#111) * Added interface for forwarding script commands to the robot, that is then executed locally on the robot This allows the user to be able to zero ftsensor, set payload and set tool voltage when the robot is in local control. * Added voltage check to setToolVoltage * Add warnings when falling back to plain script code * Fix syntax Co-authored-by: Felix Exner <[email protected]> * Made scriptCommand private and return false in setToolVoltage instead throwing an exception Co-authored-by: Felix Exner <[email protected]> Co-authored-by: Felix Exner <[email protected]>
- Loading branch information
3 people
authored
Sep 26, 2022
1 parent
f31f998
commit ba604f7
Showing
6 changed files
with
421 additions
and
5 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
114 changes: 114 additions & 0 deletions
114
include/ur_client_library/control/script_command_interface.h
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,114 @@ | ||
| // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*- | ||
|
|
||
| // -- BEGIN LICENSE BLOCK ---------------------------------------------- | ||
| // Copyright 2021 FZI Forschungszentrum Informatik | ||
| // Created on behalf of Universal Robots A/S | ||
| // | ||
| // 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. | ||
| // -- END LICENSE BLOCK ------------------------------------------------ | ||
|
|
||
| //---------------------------------------------------------------------- | ||
| /*!\file | ||
| * | ||
| * \author Mads Holm Peters [email protected] | ||
| * \date 2022-08-12 | ||
| * | ||
| */ | ||
| //---------------------------------------------------------------------- | ||
|
|
||
| #ifndef UR_CLIENT_LIBRARY_SCRIPT_COMMAND_INTERFACE_H_INCLUDED | ||
| #define UR_CLIENT_LIBRARY_SCRIPT_COMMAND_INTERFACE_H_INCLUDED | ||
|
|
||
| #include "ur_client_library/control/reverse_interface.h" | ||
| #include "ur_client_library/ur/tool_communication.h" | ||
|
|
||
| namespace urcl | ||
| { | ||
| namespace control | ||
| { | ||
| /*! | ||
| * \brief The ScriptCommandInterface class starts a TCPServer for a robot to connect to and this connection is then used | ||
| * to forward script commands to the robot, which will be executed locally on the robot. | ||
| * | ||
| * The script commands will be executed in a seperate thread in the external control script. | ||
| */ | ||
| class ScriptCommandInterface : public ReverseInterface | ||
| { | ||
| public: | ||
| ScriptCommandInterface() = delete; | ||
| /*! | ||
| * \brief Creates a ScriptCommandInterface object, including a new TCPServer | ||
| * | ||
| * \param port Port to start the server on | ||
| */ | ||
| ScriptCommandInterface(uint32_t port); | ||
|
|
||
| /*! | ||
| * \brief Zero the force torque sensor | ||
| * | ||
| * \returns True, if the write was performed successfully, false otherwise. | ||
| */ | ||
| bool zeroFTSensor(); | ||
|
|
||
| /*! | ||
| * \brief Set the active payload mass and center of gravity | ||
| * | ||
| * \param mass mass in kilograms | ||
| * \param cog Center of Gravity, a vector [CoGx, CoGy, CoGz] specifying the displacement (in meters) from the | ||
| * toolmount | ||
| * | ||
| * \returns True, if the write was performed successfully, false otherwise. | ||
| */ | ||
| bool setPayload(const double mass, const vector3d_t* cog); | ||
|
|
||
| /*! | ||
| * \brief Set the tool voltage. | ||
| * | ||
| * \param voltage Tool voltage | ||
| * | ||
| * \returns True, if the write was performed successfully, false otherwise. | ||
| */ | ||
| bool setToolVoltage(const ToolVoltage voltage); | ||
|
|
||
| /*! | ||
| * \brief Returns whether a client/robot is connected to this server. | ||
| */ | ||
| bool clientConnected(); | ||
|
|
||
| protected: | ||
| virtual void connectionCallback(const int filedescriptor) override; | ||
|
|
||
| virtual void disconnectionCallback(const int filedescriptor) override; | ||
|
|
||
| virtual void messageCallback(const int filedescriptor, char* buffer, int nbytesrecv) override; | ||
|
|
||
| private: | ||
| /*! | ||
| * \brief Available script commands | ||
| */ | ||
| enum class ScriptCommand : int32_t | ||
| { | ||
|
|
||
| ZERO_FTSENSOR = 0, ///< Zero force torque sensor | ||
| SET_PAYLOAD = 1, ///< Set payload | ||
| SET_TOOL_VOLTAGE = 2, ///< Set tool voltage | ||
| }; | ||
|
|
||
| bool client_connected_; | ||
| static const int MAX_MESSAGE_LENGTH = 5; | ||
| }; | ||
|
|
||
| } // namespace control | ||
| } // namespace urcl | ||
|
|
||
| #endif // UR_CLIENT_LIBRARY_SCRIPT_COMMAND_INTERFACE_H_INCLUDED |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.