Add option to autostart a polyscope program when not using headless mode

Author: urfeex

examples/freedrive_example.cpp

@@ -80,7 +80,10 @@ int main(int argc, char* argv[])
     second_to_run = std::chrono::seconds(std::stoi(argv[2]));
   }
 
-  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, true);
+  bool headless_mode = true;
+
+  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
+                                                     "external_control.urp");
 
   if (!g_my_robot->waitForProgramRunning())
   {

include/ur_client_library/example_robot_wrapper.h

@@ -16,7 +16,7 @@ class ExampleRobotWrapper
   ExampleRobotWrapper() = delete;
   ExampleRobotWrapper(const std::string& robot_ip, const std::string& output_recipe_file,
                       const std::string& input_recipe_file, const bool headless_mode = true,
-                      const std::string& script_file = SCRIPT_FILE);
+                      const std::string& autostart_program = "", const std::string& script_file = SCRIPT_FILE);
 
   void initializeRobotWithDashboard();
 
@@ -26,6 +26,8 @@ class ExampleRobotWrapper
 
   bool waitForProgramRunning(int milliseconds = 100);
 
+  bool startRobotProgram(const std::string& program_file_name);
+
   std::shared_ptr<urcl::DashboardClient> dashboard_client_;
   std::shared_ptr<urcl::UrDriver> ur_driver_;
 

src/example_robot_wrapper.cpp

@@ -5,7 +5,7 @@ namespace urcl
 {
 ExampleRobotWrapper::ExampleRobotWrapper(const std::string& robot_ip, const std::string& output_recipe_file,
                                          const std::string& input_recipe_file, const bool headless_mode,
-                                         const std::string& script_file)
+                                         const std::string& autostart_program, const std::string& script_file)
 {
   dashboard_client_ = std::make_shared<DashboardClient>(robot_ip);
 
@@ -21,6 +21,11 @@ ExampleRobotWrapper::ExampleRobotWrapper(const std::string& robot_ip, const std:
       std::make_shared<UrDriver>(robot_ip, script_file, output_recipe_file, input_recipe_file,
                                  std::bind(&ExampleRobotWrapper::handleRobotProgramState, this, std::placeholders::_1),
                                  headless_mode, std::move(tool_comm_setup));
+
+  if (!headless_mode && !std::empty(autostart_program))
+  {
+    startRobotProgram(autostart_program);
+  }
 }
 void ExampleRobotWrapper::initializeRobotWithDashboard()
 {
@@ -106,4 +111,15 @@ bool ExampleRobotWrapper::waitForProgramRunning(int milliseconds)
   return false;
 }
 
+bool ExampleRobotWrapper::startRobotProgram(const std::string& program_file_name)
+{
+  if (!dashboard_client_->commandLoadProgram(program_file_name))
+  {
+    URCL_LOG_ERROR("Could not load program '%s'", program_file_name.c_str());
+    return false;
+  }
+
+  return dashboard_client_->commandPlay();
+}
+
 }  // namespace urcl