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Make ExampleRobotWrapper's objects private with getters
1 parent 7e3c4f0 commit e8e4b68

15 files changed

+209
-191
lines changed

‎doc/examples/instruction_executor.rst‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@ The `instruction_executor.cpp <https://github.com/UniversalRobots/Universal_Robo
2121
:linenos:
2222
:lineno-match:
2323
:start-at: bool headless_mode = true;
24-
:end-at: auto instruction_executor = std::make_shared<urcl::InstructionExecutor>(g_my_robot->ur_driver_);
24+
:end-at: auto instruction_executor = std::make_shared<urcl::InstructionExecutor>(g_my_robot->getUrDriver());
2525

2626
At first, a ``InstructionExecutor`` object is created with the URDriver object as it needs that
2727
for communication with the robot.
@@ -61,6 +61,6 @@ To run a single motion, the ``InstructionExecutor`` provides the methods ``moveJ
6161
:linenos:
6262
:lineno-match:
6363
:start-at: double goal_time_sec = 2.0;
64-
:end-before: g_my_robot->ur_driver_->stopControl();
64+
:end-before: g_my_robot->getUrDriver()->stopControl();
6565

6666
Again, time parametrization has priority over acceleration / velocity parameters.

‎doc/examples/tool_contact_example.rst‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -20,7 +20,7 @@ At first, we create a initialize a driver as usual:
2020
:linenos:
2121
:lineno-match:
2222
:start-at: bool headless_mode = true;
23-
:end-before: g_my_robot->ur_driver_->registerToolContactResultCallback
23+
:end-before: g_my_robot->getUrDriver()->registerToolContactResultCallback
2424

2525
We use a small helper function to make sure that the reverse interface is active and connected
2626
before proceeding.
@@ -45,8 +45,8 @@ This function is registered as a callback to the driver and then tool_contact mo
4545
:caption: examples/tool_contact_example.cpp
4646
:linenos:
4747
:lineno-match:
48-
:start-at: g_my_robot->ur_driver_->registerToolContactResultCallback(&handleToolContactResult);
49-
:end-at: g_my_robot->ur_driver_->startToolContact()
48+
:start-at: g_my_robot->getUrDriver()->registerToolContactResultCallback(&handleToolContactResult);
49+
:end-at: g_my_robot->getUrDriver()->startToolContact()
5050

5151
Once everything is initialized, we can start a control loop commanding the robot to move in the
5252
negative z direction until the program timeout is hit or a tool contact is detected:

‎doc/examples/trajectory_point_interface.rst‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -45,8 +45,8 @@ That callback can be registered at the ``UrDriver`` object:
4545
:caption: examples/trajectory_point_interface.cpp
4646
:linenos:
4747
:lineno-match:
48-
:start-at: g_my_robot->ur_driver_->registerTrajectoryDoneCallback(&trajDoneCallback);
49-
:end-at: g_my_robot->ur_driver_->registerTrajectoryDoneCallback(&trajDoneCallback);
48+
:start-at: g_my_robot->getUrDriver()->registerTrajectoryDoneCallback(&trajDoneCallback);
49+
:end-at: g_my_robot->getUrDriver()->registerTrajectoryDoneCallback(&trajDoneCallback);
5050

5151

5252
MoveJ Trajectory
@@ -67,12 +67,12 @@ parameters. The following example shows execution of a 2-point trajectory using
6767
In fact, the path is followed twice, once parametrized by a segment duration and once using maximum
6868
velocity / acceleration settings. If a duration > 0 is given for a segment, the velocity and
6969
acceleration settings will be ignored as in the underlying URScript functions. In the example
70-
above, each of the ``g_my_robot->ur_driver_->writeTrajectoryPoint()`` calls will be translated into a
70+
above, each of the ``g_my_robot->getUrDriver()->writeTrajectoryPoint()`` calls will be translated into a
7171
``movej`` command in URScript.
7272

7373
While the trajectory is running, we need to tell the robot program that connection is still active
7474
and we expect the trajectory to be running. This is being done by the
75-
``g_my_robot->ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_NOOP);``
75+
``g_my_robot->getUrDriver()->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_NOOP);``
7676
call.
7777

7878
MoveL Trajectory

‎examples/force_mode_example.cpp‎

Lines changed: 20 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -57,7 +57,7 @@ std::unique_ptr<ExampleRobotWrapper> g_my_robot;
5757

5858
void sendFreedriveMessageOrDie(const control::FreedriveControlMessage freedrive_action)
5959
{
60-
bool ret = g_my_robot->ur_driver->writeFreedriveControlMessage(freedrive_action);
60+
bool ret = g_my_robot->getUrDriver()->writeFreedriveControlMessage(freedrive_action);
6161
if (!ret)
6262
{
6363
URCL_LOG_ERROR("Could not send joint command. Is the robot in remote control?");
@@ -91,7 +91,7 @@ int main(int argc, char* argv[])
9191
URCL_LOG_ERROR("Something in the robot initialization went wrong. Exiting. Please check the output above.");
9292
return 1;
9393
}
94-
if (!g_my_robot->ur_driver->checkCalibration(CALIBRATION_CHECKSUM))
94+
if (!g_my_robot->getUrDriver()->checkCalibration(CALIBRATION_CHECKSUM))
9595
{
9696
URCL_LOG_ERROR("Calibration checksum does not match actual robot.");
9797
URCL_LOG_ERROR("Use the ur_calibration tool to extract the correct calibration from the robot and pass that into "
@@ -107,24 +107,24 @@ int main(int argc, char* argv[])
107107
// Task frame at the robot's base with limits being large enough to cover the whole workspace
108108
// Compliance in z axis and rotation around z axis
109109
bool success;
110-
if (g_my_robot->ur_driver->getVersion().major < 5)
111-
success =
112-
g_my_robot->ur_driver->startForceMode({ 0, 0, 0, 0, 0, 0 }, // Task frame at the robot's base
113-
{ 0, 0, 1, 0, 0, 1 }, // Compliance in z axis and rotation around z axis
114-
{ 0, 0, -2, 0, 0, 0 }, // Press in -z direction
115-
2, // do not transform the force frame at all
116-
{ 0.1, 0.1, 1.5, 3.14, 3.14, 0.5 }, // limits
117-
0.005); // damping_factor. See ScriptManual for details.
110+
if (g_my_robot->getUrDriver()->getVersion().major < 5)
111+
success = g_my_robot->getUrDriver()->startForceMode({ 0, 0, 0, 0, 0, 0 }, // Task frame at the robot's base
112+
{ 0, 0, 1, 0, 0, 1 }, // Compliance in z axis and rotation
113+
// around z axis
114+
{ 0, 0, -2, 0, 0, 0 }, // Press in -z direction
115+
2, // do not transform the force frame at all
116+
{ 0.1, 0.1, 1.5, 3.14, 3.14, 0.5 }, // limits
117+
0.005); // damping_factor. See ScriptManual for details.
118118
else
119119
{
120-
success =
121-
g_my_robot->ur_driver->startForceMode({ 0, 0, 0, 0, 0, 0 }, // Task frame at the robot's base
122-
{ 0, 0, 1, 0, 0, 1 }, // Compliance in z axis and rotation around z axis
123-
{ 0, 0, -2, 0, 0, 0 }, // Press in -z direction
124-
2, // do not transform the force frame at all
125-
{ 0.1, 0.1, 1.5, 3.14, 3.14, 0.5 }, // limits
126-
0.005, // damping_factor
127-
1.0); // gain_scaling. See ScriptManual for details.
120+
success = g_my_robot->getUrDriver()->startForceMode({ 0, 0, 0, 0, 0, 0 }, // Task frame at the robot's base
121+
{ 0, 0, 1, 0, 0, 1 }, // Compliance in z axis and rotation
122+
// around z axis
123+
{ 0, 0, -2, 0, 0, 0 }, // Press in -z direction
124+
2, // do not transform the force frame at all
125+
{ 0.1, 0.1, 1.5, 3.14, 3.14, 0.5 }, // limits
126+
0.005, // damping_factor
127+
1.0); // gain_scaling. See ScriptManual for details.
128128
}
129129
if (!success)
130130
{
@@ -138,13 +138,13 @@ int main(int argc, char* argv[])
138138
auto stopwatch_now = stopwatch_last;
139139
while (time_done < timeout || second_to_run.count() == 0)
140140
{
141-
g_my_robot->ur_driver->writeKeepalive();
141+
g_my_robot->getUrDriver()->writeKeepalive();
142142

143143
stopwatch_now = std::chrono::steady_clock::now();
144144
time_done += stopwatch_now - stopwatch_last;
145145
stopwatch_last = stopwatch_now;
146146
std::this_thread::sleep_for(std::chrono::milliseconds(2));
147147
}
148148
URCL_LOG_INFO("Timeout reached.");
149-
g_my_robot->ur_driver->endForceMode();
149+
g_my_robot->getUrDriver()->endForceMode();
150150
}

‎examples/freedrive_example.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -55,7 +55,7 @@ std::unique_ptr<ExampleRobotWrapper> g_my_robot;
5555

5656
void sendFreedriveMessageOrDie(const control::FreedriveControlMessage freedrive_action)
5757
{
58-
bool ret = g_my_robot->ur_driver->writeFreedriveControlMessage(freedrive_action);
58+
bool ret = g_my_robot->getUrDriver()->writeFreedriveControlMessage(freedrive_action);
5959
if (!ret)
6060
{
6161
URCL_LOG_ERROR("Could not send joint command. Is there an external_control program running on the robot?");

‎examples/full_driver.cpp‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -71,7 +71,7 @@ int main(int argc, char* argv[])
7171

7272
// Increment depends on robot version
7373
double increment_constant = 0.0005;
74-
if (g_my_robot->ur_driver->getVersion().major < 5)
74+
if (g_my_robot->getUrDriver()->getVersion().major < 5)
7575
{
7676
increment_constant = 0.002;
7777
}
@@ -86,14 +86,14 @@ int main(int argc, char* argv[])
8686
// Once RTDE communication is started, we have to make sure to read from the interface buffer, as
8787
// otherwise we will get pipeline overflows. Therefor, do this directly before starting your main
8888
// loop.
89-
g_my_robot->ur_driver->startRTDECommunication();
89+
g_my_robot->getUrDriver()->startRTDECommunication();
9090
while (!(passed_positive_part && passed_negative_part))
9191
{
9292
// Read latest RTDE package. This will block for a hard-coded timeout (see UrDriver), so the
9393
// robot will effectively be in charge of setting the frequency of this loop.
9494
// In a real-world application this thread should be scheduled with real-time priority in order
9595
// to ensure that this is called in time.
96-
std::unique_ptr<rtde_interface::DataPackage> data_pkg = g_my_robot->ur_driver->getDataPackage();
96+
std::unique_ptr<rtde_interface::DataPackage> data_pkg = g_my_robot->getUrDriver()->getDataPackage();
9797
if (!data_pkg)
9898
{
9999
URCL_LOG_WARN("Could not get fresh data package from robot");
@@ -133,16 +133,16 @@ int main(int argc, char* argv[])
133133
joint_target[5] += increment;
134134
// Setting the RobotReceiveTimeout time is for example purposes only. This will make the example running more
135135
// reliable on non-realtime systems. Use with caution in productive applications.
136-
bool ret = g_my_robot->ur_driver->writeJointCommand(joint_target, comm::ControlMode::MODE_SERVOJ,
137-
RobotReceiveTimeout::millisec(100));
136+
bool ret = g_my_robot->getUrDriver()->writeJointCommand(joint_target, comm::ControlMode::MODE_SERVOJ,
137+
RobotReceiveTimeout::millisec(100));
138138
if (!ret)
139139
{
140140
URCL_LOG_ERROR("Could not send joint command. Is the robot in remote control?");
141141
return 1;
142142
}
143143
URCL_LOG_DEBUG("data_pkg:\n%s", data_pkg->toString().c_str());
144144
}
145-
g_my_robot->ur_driver->stopControl();
145+
g_my_robot->getUrDriver()->stopControl();
146146
URCL_LOG_INFO("Movement done");
147147
return 0;
148148
}

‎examples/instruction_executor.cpp‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -61,7 +61,7 @@ int main(int argc, char* argv[])
6161
bool headless_mode = true;
6262
g_my_robot = std::make_unique<urcl::ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
6363
"external_control.urp");
64-
if (!g_my_robot->ur_driver->checkCalibration(CALIBRATION_CHECKSUM))
64+
if (!g_my_robot->getUrDriver()->checkCalibration(CALIBRATION_CHECKSUM))
6565
{
6666
URCL_LOG_ERROR("Calibration checksum does not match actual robot.");
6767
URCL_LOG_ERROR("Use the ur_calibration tool to extract the correct calibration from the robot and pass that into "
@@ -75,7 +75,7 @@ int main(int argc, char* argv[])
7575
return 1;
7676
}
7777

78-
auto instruction_executor = std::make_shared<urcl::InstructionExecutor>(g_my_robot->ur_driver);
78+
auto instruction_executor = std::make_shared<urcl::InstructionExecutor>(g_my_robot->getUrDriver());
7979
// --------------- INITIALIZATION END -------------------
8080

8181
URCL_LOG_INFO("Running motion");
@@ -105,6 +105,6 @@ int main(int argc, char* argv[])
105105
// goal time parametrization -- acceleration and velocity will be ignored
106106
instruction_executor->moveL({ -0.203, 0.463, 0.559, 0.68, -1.083, -2.076 }, 0.1, 0.1, goal_time_sec);
107107

108-
g_my_robot->ur_driver->stopControl();
108+
g_my_robot->getUrDriver()->stopControl();
109109
return 0;
110110
}

‎examples/spline_example.cpp‎

Lines changed: 18 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -57,31 +57,31 @@ void sendTrajectory(const std::vector<vector6d_t>& p_p, const std::vector<vector
5757
assert(p_p.size() == time.size());
5858

5959
URCL_LOG_INFO("Starting joint-based trajectory forward");
60-
g_my_robot->ur_driver->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START,
61-
p_p.size());
60+
g_my_robot->getUrDriver()->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START,
61+
p_p.size());
6262

6363
for (size_t i = 0; i < p_p.size() && p_p.size() == time.size() && p_p[i].size() == 6; i++)
6464
{
6565
// MoveJ
6666
if (!use_spline_interpolation_)
6767
{
68-
g_my_robot->ur_driver->writeTrajectoryPoint(p_p[i], false, time[i]);
68+
g_my_robot->getUrDriver()->writeTrajectoryPoint(p_p[i], false, time[i]);
6969
}
7070
else // Use spline interpolation
7171
{
7272
// QUINTIC
7373
if (p_v.size() == time.size() && p_a.size() == time.size() && p_v[i].size() == 6 && p_a[i].size() == 6)
7474
{
75-
g_my_robot->ur_driver->writeTrajectorySplinePoint(p_p[i], p_v[i], p_a[i], time[i]);
75+
g_my_robot->getUrDriver()->writeTrajectorySplinePoint(p_p[i], p_v[i], p_a[i], time[i]);
7676
}
7777
// CUBIC
7878
else if (p_v.size() == time.size() && p_v[i].size() == 6)
7979
{
80-
g_my_robot->ur_driver->writeTrajectorySplinePoint(p_p[i], p_v[i], time[i]);
80+
g_my_robot->getUrDriver()->writeTrajectorySplinePoint(p_p[i], p_v[i], time[i]);
8181
}
8282
else
8383
{
84-
g_my_robot->ur_driver->writeTrajectorySplinePoint(p_p[i], time[i]);
84+
g_my_robot->getUrDriver()->writeTrajectorySplinePoint(p_p[i], time[i]);
8585
}
8686
}
8787
}
@@ -131,15 +131,15 @@ int main(int argc, char* argv[])
131131
return 1;
132132
}
133133

134-
g_my_robot->ur_driver->registerTrajectoryDoneCallback(&handleTrajectoryState);
134+
g_my_robot->getUrDriver()->registerTrajectoryDoneCallback(&handleTrajectoryState);
135135

136136
// Once RTDE communication is started, we have to make sure to read from the interface buffer, as
137137
// otherwise we will get pipeline overflows. Therefore, do this directly before starting your main
138138
// loop.
139139

140-
g_my_robot->ur_driver->startRTDECommunication();
140+
g_my_robot->getUrDriver()->startRTDECommunication();
141141

142-
std::unique_ptr<rtde_interface::DataPackage> data_pkg = g_my_robot->ur_driver->getDataPackage();
142+
std::unique_ptr<rtde_interface::DataPackage> data_pkg = g_my_robot->getUrDriver()->getDataPackage();
143143

144144
if (data_pkg)
145145
{
@@ -162,7 +162,7 @@ int main(int argc, char* argv[])
162162
4.00000000e+00 };
163163

164164
bool ret = false;
165-
ret = g_my_robot->ur_driver->writeTrajectoryControlMessage(control::TrajectoryControlMessage::TRAJECTORY_NOOP);
165+
ret = g_my_robot->getUrDriver()->writeTrajectoryControlMessage(control::TrajectoryControlMessage::TRAJECTORY_NOOP);
166166
if (!ret)
167167
{
168168
std::stringstream lastq;
@@ -199,7 +199,7 @@ int main(int argc, char* argv[])
199199
g_trajectory_running = true;
200200
while (g_trajectory_running)
201201
{
202-
std::unique_ptr<rtde_interface::DataPackage> data_pkg = g_my_robot->ur_driver->getDataPackage();
202+
std::unique_ptr<rtde_interface::DataPackage> data_pkg = g_my_robot->getUrDriver()->getDataPackage();
203203
if (data_pkg)
204204
{
205205
// Read current joint positions from robot data
@@ -209,7 +209,8 @@ int main(int argc, char* argv[])
209209
std::string error_msg = "Did not find 'actual_q' in data sent from robot. This should not happen!";
210210
throw std::runtime_error(error_msg);
211211
}
212-
ret = g_my_robot->ur_driver->writeTrajectoryControlMessage(control::TrajectoryControlMessage::TRAJECTORY_NOOP);
212+
ret =
213+
g_my_robot->getUrDriver()->writeTrajectoryControlMessage(control::TrajectoryControlMessage::TRAJECTORY_NOOP);
213214

214215
if (!ret)
215216
{
@@ -230,7 +231,7 @@ int main(int argc, char* argv[])
230231
g_trajectory_running = true;
231232
while (g_trajectory_running)
232233
{
233-
std::unique_ptr<rtde_interface::DataPackage> data_pkg = g_my_robot->ur_driver->getDataPackage();
234+
std::unique_ptr<rtde_interface::DataPackage> data_pkg = g_my_robot->getUrDriver()->getDataPackage();
234235
if (data_pkg)
235236
{
236237
// Read current joint positions from robot data
@@ -240,7 +241,8 @@ int main(int argc, char* argv[])
240241
std::string error_msg = "Did not find 'actual_q' in data sent from robot. This should not happen!";
241242
throw std::runtime_error(error_msg);
242243
}
243-
ret = g_my_robot->ur_driver->writeTrajectoryControlMessage(control::TrajectoryControlMessage::TRAJECTORY_NOOP);
244+
ret =
245+
g_my_robot->getUrDriver()->writeTrajectoryControlMessage(control::TrajectoryControlMessage::TRAJECTORY_NOOP);
244246

245247
if (!ret)
246248
{
@@ -255,7 +257,7 @@ int main(int argc, char* argv[])
255257

256258
URCL_LOG_INFO("QUINTIC Movement done");
257259

258-
ret = g_my_robot->ur_driver->writeTrajectoryControlMessage(control::TrajectoryControlMessage::TRAJECTORY_NOOP);
260+
ret = g_my_robot->getUrDriver()->writeTrajectoryControlMessage(control::TrajectoryControlMessage::TRAJECTORY_NOOP);
259261
if (!ret)
260262
{
261263
std::stringstream lastq;
@@ -264,6 +266,6 @@ int main(int argc, char* argv[])
264266
lastq.str().c_str());
265267
return 1;
266268
}
267-
g_my_robot->ur_driver->stopControl();
269+
g_my_robot->getUrDriver()->stopControl();
268270
return 0;
269271
}

‎examples/tool_contact_example.cpp‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -85,8 +85,8 @@ int main(int argc, char* argv[])
8585
URCL_LOG_ERROR("Something in the robot initialization went wrong. Exiting. Please check the output above.");
8686
return 1;
8787
}
88-
g_my_robot->ur_driver->registerToolContactResultCallback(&handleToolContactResult);
89-
g_my_robot->ur_driver->startToolContact();
88+
g_my_robot->getUrDriver()->registerToolContactResultCallback(&handleToolContactResult);
89+
g_my_robot->getUrDriver()->startToolContact();
9090

9191
// This will move the robot downward in the z direction of the base until a tool contact is detected or seconds_to_run
9292
// is reached
@@ -96,8 +96,8 @@ int main(int argc, char* argv[])
9696
{
9797
// Setting the RobotReceiveTimeout time is for example purposes only. This will make the example running more
9898
// reliable on non-realtime systems. Use with caution in productive applications.
99-
bool ret = g_my_robot->ur_driver->writeJointCommand(tcp_speed, comm::ControlMode::MODE_SPEEDL,
100-
RobotReceiveTimeout::millisec(100));
99+
bool ret = g_my_robot->getUrDriver()->writeJointCommand(tcp_speed, comm::ControlMode::MODE_SPEEDL,
100+
RobotReceiveTimeout::millisec(100));
101101
if (!ret)
102102
{
103103
URCL_LOG_ERROR("Could not send joint command. Is the robot in remote control?");
@@ -111,6 +111,6 @@ int main(int argc, char* argv[])
111111
}
112112
}
113113
URCL_LOG_INFO("Timed out before reaching tool contact.");
114-
g_my_robot->ur_driver->stopControl();
114+
g_my_robot->getUrDriver()->stopControl();
115115
return 0;
116116
}

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