80 lines
3.2 KiB
Python
Executable File
80 lines
3.2 KiB
Python
Executable File
#!/usr/bin/env python3
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# Copyright (c) 2021 PickNik, Inc.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the {copyright_holder} nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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"""Small helper script to start the tool communication interface."""
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import subprocess
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import rclpy.logging
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from rclpy.node import Node
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class UrToolCommunication(Node):
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"""Starts socat."""
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def __init__(self):
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super().__init__("ur_tool_communication")
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# IP address of the robot
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self.declare_parameter("robot_ip", "192.168.56.101")
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robot_ip = self.get_parameter("robot_ip").get_parameter_value().string_value
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self.get_logger().info(robot_ip)
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# Port on which the remote pc (robot) publishes the interface
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self.declare_parameter("tcp_port", 54321)
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tcp_port = self.get_parameter_or("tcp_port", 54321).get_parameter_value().integer_value
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# By default, socat will create a pty in /dev/pts/N with n being an increasing number.
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# Additionally, a symlink at the given location will be created. Use an absolute path here.
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self.declare_parameter("device_name", "/tmp/ttyUR")
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local_device = self.get_parameter("device_name").get_parameter_value().string_value
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self.get_logger().info("Remote device is available at '" + local_device + "'")
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cfg_params = ["pty"]
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cfg_params.append("link=" + local_device)
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cfg_params.append("raw")
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cfg_params.append("ignoreeof")
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cfg_params.append("waitslave")
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cmd = ["socat"]
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cmd.append(",".join(cfg_params))
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cmd.append(":".join(["tcp", robot_ip, str(tcp_port)]))
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self.get_logger().info("Starting socat with following command:\n" + " ".join(cmd))
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subprocess.call(cmd)
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def main():
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rclpy.init()
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node = UrToolCommunication()
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rclpy.spin(node)
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if __name__ == "__main__":
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main()
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