Added the new primary client. The primary client can through its consumer get the message handlers and from the message handlers get the latest message of each type.

The primary client checks whether the robot is in remote control or not, as it should not be able to send script if the robot is not in remote control. This is not true if the robot is simulated. Therefore, when constructing a primary client instance it is needed to specify if the robot is simulated or real. I was not able to find a way for the primary client to check whether it was real or simulated automatically.

The primary client now automatically checks whether the checksum is correct when starting.

Author: urmarp

CMakeLists.txt

@@ -23,11 +23,24 @@ add_library(urcl SHARED
     src/control/script_sender.cpp
     src/control/trajectory_point_interface.cpp
     src/control/script_command_interface.cpp
+    src/primary/primary_client.cpp
     src/primary/primary_package.cpp
+    src/primary/program_state_message.cpp
     src/primary/robot_message.cpp
     src/primary/robot_state.cpp
+    src/primary/program_state_message/global_variables_update_message.cpp
+    src/primary/program_state_message/global_variables_setup_message.cpp
+    src/primary/robot_message/error_code_message.cpp
+    src/primary/robot_message/runtime_exception_message.cpp
     src/primary/robot_message/version_message.cpp
+    src/primary/robot_message/text_message.cpp
+    src/primary/robot_message/key_message.cpp
     src/primary/robot_state/kinematics_info.cpp
+    src/primary/robot_state/robot_mode_data.cpp
+    src/primary/robot_state/joint_data.cpp
+    src/primary/robot_state/cartesian_info.cpp
+    src/primary/robot_state/force_mode_data.cpp
+    src/primary/robot_state/additional_info.cpp
     src/rtde/control_package_pause.cpp
     src/rtde/control_package_setup_inputs.cpp
     src/rtde/control_package_setup_outputs.cpp

include/ur_client_library/primary/primary_client.h

@@ -0,0 +1,205 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Text 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  Felix Exner exner@fzi.de
+ * \date    2020-04-30
+ *
+ */
+//----------------------------------------------------------------------
+#ifndef UR_CLIENT_LIBRARY_PRIMARY_CLIENT_H_INCLUDED
+#define UR_CLIENT_LIBRARY_PRIMARY_CLIENT_H_INCLUDED
+
+#include <ur_client_library/primary/primary_parser.h>
+#include <ur_client_library/comm/producer.h>
+#include <ur_client_library/comm/stream.h>
+#include <ur_client_library/comm/pipeline.h>
+#include <ur_client_library/ur/calibration_checker.h>
+#include <ur_client_library/primary/primary_consumer.h>
+#include <ur_client_library/ur/dashboard_client.h>
+
+namespace urcl
+{
+namespace primary_interface
+{
+class PrimaryClient
+{
+public:
+  PrimaryClient() = delete;
+  PrimaryClient(const std::string& robot_ip, const std::string& calibration_checksum);
+  // virtual ~PrimaryClient() = default;
+  virtual ~PrimaryClient();
+
+  /*!
+   * \brief Sends a custom script program to the robot.
+   *
+   * The given code must be valid according the UR Scripting Manual.
+   *
+   * \param script_code URScript code that shall be executed by the robot.
+   *
+   * \returns true on successful upload, false otherwise.
+   */
+  bool sendScript(const std::string& script_code);
+
+  /*!
+   * \brief Configures the primary client
+   *
+   * Creates a connection to the stream and sets up producer, consumer and pipeline
+   */
+  bool configure();
+
+  /*!
+   * \brief Checks if the robot is in local or remote control
+   *
+   * Checks for package with error code determining if robot is in remote or local control
+   */
+  void checkRemoteLocalControl();
+
+  /*!
+   * \brief Stops the primary client
+   *
+   * Closes the thread checking for remote or local control
+   */
+  void stop();
+
+  /*!
+   * \brief Returns whether the robot is in remote or local control
+   *
+   * Returns whether the robot is in remote or local control
+   */
+  bool isInRemoteControl();
+
+  /*!
+   * \brief Returns latest AdditionalInfo message
+   *
+   * Returns latest AdditionalInfo message
+   */
+  std::shared_ptr<AdditionalInfo> getAdditionalInfo();
+
+  /*!
+   * \brief Returns latest CartesianInfo message
+   *
+   * Returns latest CartesianInfo message
+   */
+  std::shared_ptr<CartesianInfo> getCartesianInfo();
+
+  /*!
+   * \brief Returns latest ForceModeData message
+   *
+   * Returns latest ForceModeData message
+   */
+  std::shared_ptr<ForceModeData> getForceModeData();
+
+  /*!
+   * \brief Returns latest JointData message
+   *
+   * Returns latest JointData message
+   */
+  std::shared_ptr<JointData> getJointData();
+
+  /*!
+   * \brief Returns latest RobotModeData message
+   *
+   * Returns latest RobotModeData message
+   */
+  std::shared_ptr<RobotModeData> getRobotModeData();
+
+  /*!
+   * \brief Returns latest KeyMessage message
+   *
+   * Returns latest KeyMessage message
+   */
+  std::shared_ptr<KeyMessage> getKeyMessage();
+
+  /*!
+   * \brief Returns latest ErrorCodeMessage message
+   *
+   * Returns latest ErrorCodeMessage message
+   */
+  std::shared_ptr<ErrorCodeMessage> getErrorCodeMessage();
+
+  /*!
+   * \brief Returns latest RuntimeExceptionMessage message
+   *
+   * Returns latest RuntimeExceptionMessage message
+   */
+  std::shared_ptr<RuntimeExceptionMessage> getRuntimeExceptionMessage();
+
+  /*!
+   * \brief Returns latest TextMessage message
+   *
+   * Returns latest TextMessage message
+   */
+  std::shared_ptr<TextMessage> getTextMessage();
+
+  /*!
+   * \brief Returns latest VersionMessage message
+   *
+   * Returns latest VersionMessage message
+   */
+  std::shared_ptr<VersionMessage> getVersionMessage();
+
+  /*!
+   * \brief Returns latest GlobalVariablesSetupMessage message
+   *
+   * Returns latest GlobalVariablesSetupMessage message
+   */
+  std::shared_ptr<GlobalVariablesSetupMessage> getGlobalVariablesSetupMessage();
+
+  /*!
+   * \brief Returns Calibration checker
+   *
+   * Returns Calibration checker
+   */
+  std::shared_ptr<CalibrationChecker> getCalibrationChecker();
+
+  /*!
+   * \brief Set whether the robot is simulated or real
+   */
+  void setSimulated(bool value);
+
+  /*!
+   * \brief Check if the robot is simulated or real
+   *
+   * \returns true if robot is simulated, false otherwise.
+   */
+  bool getSimulated();
+
+private:
+  std::string robot_ip_;
+  int port_;
+  PrimaryParser parser_;
+  comm::INotifier notifier_;
+  bool connected_;
+  bool simulated_;
+  std::atomic<bool> running_, in_remote_control_;
+  std::unique_ptr<PrimaryConsumer> consumer_;
+  std::unique_ptr<comm::URProducer<PrimaryPackage>> producer_;
+  std::unique_ptr<comm::URStream<PrimaryPackage>> stream_;
+  std::unique_ptr<comm::Pipeline<PrimaryPackage>> pipeline_;
+  std::unique_ptr<urcl::DashboardClient> dashboard_client_;
+  std::shared_ptr<CalibrationChecker> calibration_checker_;
+  std::thread rc_thread_;
+};
+
+}  // namespace primary_interface
+}  // namespace urcl
+
+#endif  // ifndef UR_CLIENT_LIBRARY_PRIMARY_CLIENT_H_INCLUDED