How does robot commands received send to robot?

[itfanr]

I have read the code on kinetic-devel branch and I am confused about the code :

The server with 50001 port reads the packets data and deals with it:

bool LowBandwidthTrajectoryFollower::execute(const std::array<double, 6> &positions,
                                             const std::array<double, 6> &velocities, double sample_number,
                                             double time_in_seconds)
{
  if (!running_)
    return false;

  std::ostringstream out;

  out << "(";
  out << sample_number << ",";
  for (auto const &pos : positions)
  {
    out << pos << ",";
  }
  for (auto const &vel : velocities)
  {
    out << vel << ",";
  }
  out << time_in_seconds << ")\r\n";

  // I know it's ugly but it's the most efficient and fastest way
  // We have only ASCII characters and we can cast char -> uint_8
  const std::string tmp = out.str();
  const char *formatted_message = tmp.c_str();
  const uint8_t *buf = (uint8_t *)formatted_message;

  size_t written;
  LOG_DEBUG("Sending message %s", formatted_message);

  return server_.write(buf, strlen(formatted_message) + 1, written);
}

In URServer class:

bool URServer::write(const uint8_t* buf, size_t buf_len, size_t& written)
{
  return client_.write(buf, buf_len, written);
}

How does packet send to the robot? I can only find the code above. And I cannot find it is convert to URCommander. Or, can you show me the architecture about the process?

Thank you.

[gavanderhoorn]

Are you specifically asking about the LowBandwidthTrajectoryFollower?

[gavanderhoorn]

As this is not an actual issue with the package in this repository, but a general question about an implementation detail, I'm going to close this issue.

You may keep commenting on it of course.

[itfanr]

@gavanderhoorn Thank you all the same.

If you have known about this, could you tell me the implementation detail ?

[gavanderhoorn]

You haven't answered my question:

Are you specifically asking about the LowBandwidthTrajectoryFollower?

[itfanr]

@gavanderhoorn I want know the function how does bool LowBandwidthTrajectoryFollower::execute send the command to real UR robot with 30001 port. I didnot find the code.

[itfanr]

@gavanderhoorn It must call URCommander or some code. But I cannot figure it out.