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| 1 | +// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*- |
| 2 | + |
| 3 | +// -- BEGIN LICENSE BLOCK ---------------------------------------------- |
| 4 | +// Copyright 2022 Universal Robots A/S |
| 5 | +// |
| 6 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 7 | +// you may not use this file except in compliance with the License. |
| 8 | +// You may obtain a copy of the License at |
| 9 | +// |
| 10 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 11 | +// |
| 12 | +// Unless required by applicable law or agreed to in writing, software |
| 13 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 14 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 15 | +// See the License for the specific language governing permissions and |
| 16 | +// limitations under the License. |
| 17 | +// |
| 18 | +// -- END LICENSE BLOCK ------------------------------------------------ |
| 19 | + |
| 20 | +#include <ur_client_library/log.h> |
| 21 | +#include <ur_client_library/ur/dashboard_client.h> |
| 22 | + |
| 23 | +#include <iostream> |
| 24 | +#include <memory> |
| 25 | +#include <thread> |
| 26 | + |
| 27 | +using namespace urcl; |
| 28 | + |
| 29 | +// In a real-world example it would be better to get those values from command line parameters / a |
| 30 | +// better configuration system such as Boost.Program_options |
| 31 | +const std::string DEFAULT_ROBOT_IP = "192.168.56.101"; |
| 32 | + |
| 33 | +// We need a callback function to register. See UrDriver's parameters for details. |
| 34 | + |
| 35 | +int main(int argc, char* argv[]) |
| 36 | +{ |
| 37 | + urcl::setLogLevel(urcl::LogLevel::DEBUG); |
| 38 | + |
| 39 | + // Parse the ip arguments if given |
| 40 | + std::string robot_ip = DEFAULT_ROBOT_IP; |
| 41 | + if (argc > 1) |
| 42 | + { |
| 43 | + robot_ip = std::string(argv[1]); |
| 44 | + } |
| 45 | + |
| 46 | + // Making the robot ready for the program by: |
| 47 | + // Connect the the robot Dashboard |
| 48 | + std::unique_ptr<DashboardClient> my_dashboard; |
| 49 | + my_dashboard.reset(new DashboardClient(robot_ip)); |
| 50 | + if (!my_dashboard->connect()) |
| 51 | + { |
| 52 | + URCL_LOG_ERROR("Could not connect to dashboard"); |
| 53 | + return 1; |
| 54 | + } |
| 55 | + |
| 56 | + if (!my_dashboard->commandPowerOff()) |
| 57 | + { |
| 58 | + URCL_LOG_ERROR("Could not send power off"); |
| 59 | + return 1; |
| 60 | + } |
| 61 | + |
| 62 | + my_dashboard->commandCloseSafetyPopup(); |
| 63 | + |
| 64 | + // Power it on |
| 65 | + if (!my_dashboard->commandPowerOn()) |
| 66 | + { |
| 67 | + URCL_LOG_ERROR("Could not send Power on command"); |
| 68 | + return 1; |
| 69 | + } |
| 70 | + |
| 71 | + // Release the brakes |
| 72 | + if (!my_dashboard->commandBrakeRelease()) |
| 73 | + { |
| 74 | + URCL_LOG_ERROR("Could not send BrakeRelease command"); |
| 75 | + return 1; |
| 76 | + } |
| 77 | + |
| 78 | + // Load existing program |
| 79 | + const std::string program_file_name_to_be_loaded("wait_program.urp"); |
| 80 | + if (!my_dashboard->commandLoadProgram(program_file_name_to_be_loaded)) |
| 81 | + { |
| 82 | + URCL_LOG_ERROR("Could not load %s program", program_file_name_to_be_loaded.c_str()); |
| 83 | + return 1; |
| 84 | + } |
| 85 | + |
| 86 | + // Play loaded program |
| 87 | + if (!my_dashboard->commandPlay()) |
| 88 | + { |
| 89 | + URCL_LOG_ERROR("Could not play program"); |
| 90 | + return 1; |
| 91 | + } |
| 92 | + |
| 93 | + // Pause running program |
| 94 | + if (!my_dashboard->commandPause()) |
| 95 | + { |
| 96 | + URCL_LOG_ERROR("Could not pause program"); |
| 97 | + return 1; |
| 98 | + } |
| 99 | + |
| 100 | + // Play loaded program |
| 101 | + if (!my_dashboard->commandPlay()) |
| 102 | + { |
| 103 | + URCL_LOG_ERROR("Could not play program"); |
| 104 | + return 1; |
| 105 | + } |
| 106 | + |
| 107 | + // Stop program |
| 108 | + if (!my_dashboard->commandStop()) |
| 109 | + { |
| 110 | + URCL_LOG_ERROR("Could not stop program"); |
| 111 | + return 1; |
| 112 | + } |
| 113 | + |
| 114 | + // Power it off |
| 115 | + if (!my_dashboard->commandPowerOff()) |
| 116 | + { |
| 117 | + URCL_LOG_ERROR("Could not send Power off command"); |
| 118 | + return 1; |
| 119 | + } |
| 120 | + |
| 121 | + // Now the robot is ready to receive a program |
| 122 | + |
| 123 | + return 0; |
| 124 | +} |
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