Improve primary client #137
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Codecov ReportBase: 74.09% // Head: 75.53% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## master #137 +/- ##
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+ Coverage 74.09% 75.53% +1.44%
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Files 91 135 +44
Lines 3462 4775 +1313
Branches 359 429 +70
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+ Hits 2565 3607 +1042
- Misses 680 931 +251
- Partials 217 237 +20
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@urmarp this would be easier to review if these were multiple commits. |
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Before reviewing this any further: Could you please elaborate what you have done? What is the handler concept and why did you add this?
Again, splitting this into multiple commits (maybe with commit messages going into more detail) might make things a lot clearer.
examples/full_driver.cpp
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| // const std::string DEFAULT_ROBOT_IP = "192.168.56.101"; | ||
| const std::string DEFAULT_ROBOT_IP = "localhost"; |
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Please do not change such a thing without a reason. The IP can be specified as an argument and we designed the example in order to work with the start_ursim.sh script.
| // Once RTDE communication is started, we have to make sure to read from the interface buffer, as | ||
| // otherwise we will get pipeline overflows. Therefor, do this directly before starting your main | ||
| // otherwise we will get pipeline overflows. Therefore, do this directly before starting your main | ||
| // loop. |
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This comment belongs to the g_my_driver->startRTDECommunication(); line.
examples/primary_pipeline.cpp
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| // const std::string DEFAULT_ROBOT_IP = "192.168.56.101"; | ||
| const std::string DEFAULT_ROBOT_IP = "localhost"; |
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Same as above. Please do not change this.
…se messages for primary client joint data messages.
…hese handlers save the data from the latest message of each type, which can then be accessed through the primary client. The handlers also enable the possibility to handle the data differently for each message.
…f message received.
… the kinematics info message type and a calibration checker. It is still possible to add a separate calibration checker, if that is desired.
…umer 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.
…iver now also checks if the checksum is correct when an instance is made, as it makes an instance of the primary client, which checks when it is instantiated. Also added debugging message to tcp socket, which specifies which socket is already connected.
urmarp
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I have split the commit into multiple commits and tried to explain the thoughts behind the changes. Added message handlers for the messages from the primary interface. These handlers save the data from the latest message of each type, which can then be accessed through the primary client. The handlers also enable the possibility to handle the data differently for each message. The primary client can through its consumer get the message handlers and from the message handlers get the latest message of each type. |
…trol_ will always be true. The thread to check if robot is in remote control or not will only start if robot is e-series.
…ity to determine if robot is e-series or cb3.
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Closing this in favor of #186 |
Improved primary interface, this includes following changes:
Added message handlers for messages received through primary client
Changed primary pipeline and full driver example
Added datatype: vector6f_t and vector6uin8_t
Added parsing of vector6f_t
Changed timeout in producer
Added parsing of more messages from primary interface
Added calibration check in constructor of primary client
Added calibration checksum to urdriver constructor
Added test for primary client and primary parser
Added funtionality to set robot as simulated or real
Added wait in full driver example