Improve primary interface

CMakeLists.txt

@@ -19,10 +19,17 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
 add_library(urcl SHARED
     src/comm/tcp_socket.cpp
     src/comm/server.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/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/rtde/control_package_pause.cpp
     src/rtde/control_package_setup_inputs.cpp

examples/primary_pipeline.cpp

@@ -27,7 +27,7 @@
 
 #include <ur_client_library/comm/pipeline.h>
 #include <ur_client_library/comm/producer.h>
-#include <ur_client_library/comm/shell_consumer.h>
+#include <ur_client_library/primary/primary_shell_consumer.h>
 #include <ur_client_library/primary/primary_parser.h>
 
 #ifdef ROS_BUILD
@@ -38,7 +38,7 @@ using namespace urcl;
 
 // In a real-world example it would be better to get those values from command line parameters / a better configuration
 // system such as Boost.Program_options
-const std::string ROBOT_IP = "192.168.56.101";
+const std::string ROBOT_IP = "172.17.0.2";
 
 int main(int argc, char* argv[])
 {
@@ -60,7 +60,7 @@ int main(int argc, char* argv[])
 
   // The shell consumer will print the package contents to the shell
   std::unique_ptr<comm::IConsumer<primary_interface::PrimaryPackage>> consumer;
-  consumer.reset(new comm::ShellConsumer<primary_interface::PrimaryPackage>());
+  consumer.reset(new primary_interface::PrimaryShellConsumer());
 
   // The notifer will be called at some points during connection setup / loss. This isn't fully
   // implemented atm.
@@ -70,6 +70,18 @@ int main(int argc, char* argv[])
   comm::Pipeline<primary_interface::PrimaryPackage> pipeline(prod, consumer.get(), "Pipeline", notifier);
   pipeline.run();
 
+  std::this_thread::sleep_for(std::chrono::seconds(2));
+
+  std::string script_code = "zero_ftsensor()";
+
+  auto program_with_newline = script_code + '\n';
+
+  size_t len = program_with_newline.size();
+  const uint8_t* data = reinterpret_cast<const uint8_t*>(program_with_newline.c_str());
+  size_t written;
+
+  primary_stream.write(data, len, written);
+
   // Package contents will be printed while not being interrupted
   // Note: Packages for which the parsing isn't implemented, will only get their raw bytes printed.
   while (true)

include/ur_client_library/comm/producer.h

@@ -57,6 +57,8 @@ class URProducer : public IProducer<T>
   {
   }
 
+  virtual ~URProducer() = default;
+
   /*!
    * \brief Triggers the stream to connect to the robot.
    */

include/ur_client_library/primary/abstract_primary_consumer.h

@@ -25,13 +25,18 @@
  */
 //----------------------------------------------------------------------
 
-#ifndef UR_ROBOT_DRIVER_ABSTRACT_PRIMARY_CONSUMER_H_INCLUDED
-#define UR_ROBOT_DRIVER_ABSTRACT_PRIMARY_CONSUMER_H_INCLUDED
+#ifndef UR_CLIENT_LIBRARY_ABSTRACT_PRIMARY_CONSUMER_H_INCLUDED
+#define UR_CLIENT_LIBRARY_ABSTRACT_PRIMARY_CONSUMER_H_INCLUDED
 
 #include "ur_client_library/log.h"
 #include "ur_client_library/comm/pipeline.h"
+#include "ur_client_library/primary/robot_message/error_code_message.h"
+#include "ur_client_library/primary/robot_message/key_message.h"
+#include "ur_client_library/primary/robot_message/runtime_exception_message.h"
+#include "ur_client_library/primary/robot_message/text_message.h"
 #include "ur_client_library/primary/robot_message/version_message.h"
 #include "ur_client_library/primary/robot_state/kinematics_info.h"
+#include "ur_client_library/primary/program_state_message/global_variables_update_message.h"
 
 namespace urcl
 {
@@ -70,13 +75,19 @@ class AbstractPrimaryConsumer : public comm::IConsumer<PrimaryPackage>
   // To be implemented in specific consumers
   virtual bool consume(RobotMessage& pkg) = 0;
   virtual bool consume(RobotState& pkg) = 0;
+  virtual bool consume(ErrorCodeMessage& pkg) = 0;
+  virtual bool consume(KeyMessage& pkg) = 0;
+  virtual bool consume(RuntimeExceptionMessage& pkg) = 0;
+  virtual bool consume(TextMessage& pkg) = 0;
   virtual bool consume(VersionMessage& pkg) = 0;
   virtual bool consume(KinematicsInfo& pkg) = 0;
+  virtual bool consume(ProgramStateMessage& pkg) = 0;
+  virtual bool consume(GlobalVariablesUpdateMessage& pkg) = 0;
 
 private:
   /* data */
 };
 }  // namespace primary_interface
 }  // namespace urcl
 
-#endif  // ifndef UR_ROBOT_DRIVER_ABSTRACT_PRIMARY_CONSUMER_H_INCLUDED
+#endif  // ifndef UR_CLIENT_LIBRARY_ABSTRACT_PRIMARY_CONSUMER_H_INCLUDED

include/ur_client_library/primary/error_code_message_handler.h

@@ -0,0 +1,95 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+//
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2020 FZI Forschungszentrum Informatik
+//
+// 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  Felix Exner [email protected]
+ * \date    2020-04-30
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_CLIENT_LIBRARY_ERROR_CODE_MESSAGE_HANDLER_H_INCLUDED
+#define UR_CLIENT_LIBRARY_ERROR_CODE_MESSAGE_HANDLER_H_INCLUDED
+
+#include <ur_client_library/log.h>
+#include <ur_client_library/primary/primary_package_handler.h>
+#include <ur_client_library/primary/robot_message/error_code_message.h>
+
+namespace urcl
+{
+namespace primary_interface
+{
+class ErrorCodeMessageHandler : public IPrimaryPackageHandler<ErrorCodeMessage>
+{
+public:
+  ErrorCodeMessageHandler() = default;
+  virtual ~ErrorCodeMessageHandler() = default;
+
+  /*!
+   * \brief Actual worker function
+   *
+   * \param pkg package that should be handled
+   */
+  virtual void handle(ErrorCodeMessage& pkg) override
+  {
+    std::stringstream out_ss;
+    out_ss << "---ErrorCodeMessage---\n" << pkg.toString().c_str() << std::endl;
+    switch (pkg.report_level_)
+    {
+      case ReportLevel::DEBUG:
+      case ReportLevel::DEVL_DEBUG:
+      {
+        LOG_DEBUG("%s", out_ss.str().c_str());
+        break;
+      }
+      case ReportLevel::INFO:
+      case ReportLevel::DEVL_INFO:
+      {
+        LOG_INFO("%s", out_ss.str().c_str());
+        break;
+      }
+      case ReportLevel::WARNING:
+      {
+        LOG_WARN("%s", out_ss.str().c_str());
+        break;
+      }
+      case ReportLevel::VIOLATION:
+      case ReportLevel::FAULT:
+      case ReportLevel::DEVL_VIOLATION:
+      case ReportLevel::DEVL_FAULT:
+      {
+        LOG_ERROR("%s", out_ss.str().c_str());
+        break;
+      }
+      default:
+      {
+        std::stringstream ss;
+        ss << "Unknown report level: " << static_cast<int>(pkg.report_level_) << std::endl << out_ss.str();
+        LOG_ERROR("%s", ss.str().c_str());
+      }
+    }
+  }
+
+private:
+  /* data */
+};
+}  // namespace primary_interface
+}  // namespace urcl
+#endif  // ifndef UR_CLIENT_LIBRARY_ERROR_CODE_MESSAGE_HANDLER_H_INCLUDED

include/ur_client_library/primary/key_message_handler.h

@@ -0,0 +1,60 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+//
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2020 FZI Forschungszentrum Informatik
+//
+// 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  Felix Exner [email protected]
+ * \date    2020-04-30
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_CLIENT_LIBRARY_KEY_MESSAGE_HANDLER_H_INCLUDED
+#define UR_CLIENT_LIBRARY_KEY_MESSAGE_HANDLER_H_INCLUDED
+
+#include <ur_client_library/log.h>
+#include <ur_client_library/primary/primary_package_handler.h>
+#include <ur_client_library/primary/robot_message/key_message.h>
+
+namespace urcl
+{
+namespace primary_interface
+{
+class KeyMessageHandler : public IPrimaryPackageHandler<KeyMessage>
+{
+public:
+  KeyMessageHandler() = default;
+  virtual ~KeyMessageHandler() = default;
+
+  /*!
+   * \brief Actual worker function
+   *
+   * \param pkg package that should be handled
+   */
+  virtual void handle(KeyMessage& pkg) override
+  {
+    LOG_INFO("---KeyMessage---\n%s", pkg.toString().c_str());
+  }
+
+private:
+  /* data */
+};
+}  // namespace primary_interface
+}  // namespace urcl
+#endif  // ifndef UR_CLIENT_LIBRARY_KEY_MESSAGE_HANDLER_H_INCLUDED

include/ur_client_library/primary/primary_client.h

@@ -0,0 +1,79 @@
+// 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 [email protected]
+ * \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>
+
+namespace urcl
+{
+namespace primary_interface
+{
+class PrimaryClient
+{
+public:
+  PrimaryClient() = delete;
+  PrimaryClient(const std::string& robot_ip, const std::string& calibration_checksum);
+  virtual ~PrimaryClient() = default;
+
+  /*!
+   * \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 Checks if the kinematics information in the used model fits the actual robot.
+   *
+   * \param checksum Hash of the used kinematics information
+   */
+  void checkCalibration(const std::string& checksum);
+
+private:
+  std::string robot_ip_;
+  PrimaryParser parser_;
+  std::unique_ptr<PrimaryConsumer> consumer_;
+  comm::INotifier notifier_;
+  std::unique_ptr<comm::URProducer<PrimaryPackage>> producer_;
+  std::unique_ptr<comm::URStream<PrimaryPackage>> stream_;
+  std::unique_ptr<comm::Pipeline<PrimaryPackage>> pipeline_;
+};
+
+}  // namespace primary_interface
+}  // namespace urcl
+
+#endif  // ifndef UR_CLIENT_LIBRARY_PRIMARY_CLIENT_H_INCLUDED