Update ScriptSender documentation with example

Author: urfeex

doc/conf.py renamed to conf.py

@@ -19,7 +19,7 @@
 import os
 import catkin_pkg.package
 
-catkin_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+catkin_dir = os.path.dirname(os.path.abspath(__file__))
 catkin_package = catkin_pkg.package.parse_package(
     os.path.join(catkin_dir, catkin_pkg.package.PACKAGE_MANIFEST_FILENAME)
 )
@@ -63,7 +63,7 @@
 source_suffix = ".rst"
 
 # The master toctree document.
-master_doc = "index"
+master_doc = "doc/index"
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
@@ -87,11 +87,11 @@
 # a list of builtin themes.
 #
 html_theme = "sphinx_rtd_theme"
-html_static_path = ["_static"]
-html_logo = "_static/images/ur_logo.svg"
-html_favicon = "_static/images/icon.svg"
+html_static_path = ["doc/_static"]
+html_logo = "doc/_static/images/ur_logo.svg"
+html_favicon = "doc/_static/images/icon.svg"
 html_css_files = [
-    'css/ur_theme.css',
+    'doc/css/ur_theme.css',
 ]
 
 # Theme options are theme-specific and customize the look and feel of a theme

doc/architecture.rst

@@ -13,6 +13,11 @@ The core of this library is the ``UrDriver`` class which creates a
 fully functioning robot interface. For details on how to use it, please see the
 :ref:`example-driver` section.
 
+.. toctree::
+   :maxdepth: 1
+
+   architecture/script_sender
+
 The ``UrDriver``'s modules will be explained in the following.
 
 RTDEClient

doc/architecture/script_sender.rst

@@ -0,0 +1,20 @@
+ScriptSender
+============
+
+The ``ScriptSender`` class opens a tcp socket listens for "*request_program*" request. Upon such a
+request, a predefined URScript code is sent to the caller. The script code itself has to be passed
+to the ``ScriptSender``'s constructor.
+
+Use this class in conjunction with the `External Control URCap
+<https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap>`_ which will make the
+corresponding request when starting a program on the robot that contains the **External Control**
+program node. In order to work properly, make sure that the IP address and script sender port are
+configured correctly on the robot.
+
+The following example creates a ``ScriptSender`` listening on port ``12345`` and sends the script
+``textmsg("Hello, World!")`` when requested. A fully compilable example can be found in `script_sender.cpp <https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/examples/script_sender.cpp>`_
+
+.. literalinclude:: ../../examples/script_sender.cpp
+   :language: c++
+   :linenos:
+   :start-at: constexpr uint32_t PORT

examples/CMakeLists.txt

@@ -54,3 +54,8 @@ add_executable(force_mode_example
 force_mode_example.cpp)
 target_compile_options(force_mode_example PUBLIC ${CXX17_FLAG})
 target_link_libraries(force_mode_example ur_client_library::urcl)
+
+add_executable(script_sender_example
+script_sender.cpp)
+target_compile_options(script_sender_example PUBLIC ${CXX17_FLAG})
+target_link_libraries(script_sender_example ur_client_library::urcl)

examples/script_sender.cpp

@@ -0,0 +1,44 @@
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2024 Universal Robots A/S
+//
+// 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    2024-12-04
+ *
+ */
+//----------------------------------------------------------------------
+
+#include <iostream>
+#include <thread>
+
+#include <ur_client_library/control/script_sender.h>
+
+constexpr uint32_t PORT = 12345;
+int main(int argc, char* argv[])
+{
+  urcl::control::ScriptSender sender(PORT, "textmsg(\"Hello, World!\")");
+
+  std::cout << "Waiting for incoming requests on port " << PORT << "..." << std::endl;
+
+  while (true)
+  {
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+  }
+
+  return 0;
+}