staubli_robot_driver::Socket Class Reference

Abstract interface for communication with the robot. More...

#include <socket.hpp>

Inheritance diagram for staubli_robot_driver::Socket:

Public Member Functions
	Socket ()=default
	Default constructor.
virtual	~Socket ()=default
	Virtual destructor.
virtual bool	connect (const std::string &remote_address, uint16_t remote_port, uint16_t local_port)=0
	Connect to the remote endpoint.
virtual bool	connect (const std::string &remote_address, uint16_t remote_port, const std::string &local_address, uint16_t local_port)=0
	Connect to the remote endpoint with specific local address.
virtual bool	disconnect ()=0
	Disconnect from the remote endpoint.
virtual bool	is_connected () const =0
	Check if the connection is established.
virtual bool	send (std::vector< uint8_t > &data)=0
	Send data to the remote endpoint.
virtual bool	receive_once (int timeout_ms, std::vector< uint8_t > &data)=0
	Receive data from socket (blocking with timeout)
virtual bool	start_receive_thread (std::function< void(std::vector< uint8_t > &, size_t)> reception_callback)=0
	Start a receive thread that calls the provided reception_callback when data is received.
virtual bool	stop_receive_thread ()=0
	Stop the receive thread.
virtual bool	is_receiving () const =0
	Check if the receive thread is running.

Detailed Description

Abstract interface for communication with the robot.

This interface defines the methods required for any communication protocol implementation (UDP / TCP)

Constructor & Destructor Documentation

Socket()

staubli_robot_driver::Socket::Socket ( )

default

Default constructor.

~Socket()

virtual staubli_robot_driver::Socket::~Socket ( )

virtualdefault

Virtual destructor.

Member Function Documentation

connect() [1/2]

virtual bool staubli_robot_driver::Socket::connect ( const std::string &  remote_address, uint16_t  remote_port, uint16_t  local_port  )

pure virtual

Connect to the remote endpoint.

Parameters

remote_address	Address of the remote endpoint (format depends on protocol)
remote_port	Port or identifier for the remote endpoint
local_port	Port or identifier for the local endpoint

Returns

True if connected successfully, false otherwise

Implemented in staubli_robot_driver::TCPSocket, and staubli_robot_driver::UDPSocket.

connect() [2/2]

virtual bool staubli_robot_driver::Socket::connect ( const std::string &  remote_address, uint16_t  remote_port, const std::string &  local_address, uint16_t  local_port  )

pure virtual

Connect to the remote endpoint with specific local address.

Parameters

remote_address	Address of the remote endpoint (format depends on protocol)
remote_port	Port or identifier for the remote endpoint
local_address	Local IP address to bind to (e.g., "192.168.1.100", "0.0.0.0" for any)
local_port	Port or identifier for the local endpoint

Returns

True if connected successfully, false otherwise

Implemented in staubli_robot_driver::TCPSocket, and staubli_robot_driver::UDPSocket.

disconnect()

virtual bool staubli_robot_driver::Socket::disconnect ( )

pure virtual

Disconnect from the remote endpoint.

Returns

True if disconnected successfully, false otherwise

Implemented in staubli_robot_driver::TCPSocket, and staubli_robot_driver::UDPSocket.

is_connected()

virtual bool staubli_robot_driver::Socket::is_connected ( ) const

pure virtual

Check if the connection is established.

Returns

True if connected, false otherwise

Implemented in staubli_robot_driver::TCPSocket, and staubli_robot_driver::UDPSocket.

send()

virtual bool staubli_robot_driver::Socket::send ( std::vector< uint8_t > &  data )

pure virtual

Send data to the remote endpoint.

Parameters

data	Data to send

Returns

True if data was sent successfully, false otherwise

Implemented in staubli_robot_driver::TCPSocket, and staubli_robot_driver::UDPSocket.

receive_once()

virtual bool staubli_robot_driver::Socket::receive_once ( int  timeout_ms, std::vector< uint8_t > &  data  )

pure virtual

Receive data from socket (blocking with timeout)

Parameters

timeout_ms	Timeout in milliseconds
data	Will be filled with received data

Returns

Number of bytes received, 0 on timeout, -1 on error

Warning

The data vector must be preallocated with the max buffer size. The function will resize it to the max buffer size otherwise...

Implemented in staubli_robot_driver::TCPSocket, and staubli_robot_driver::UDPSocket.

start_receive_thread()

virtual bool staubli_robot_driver::Socket::start_receive_thread ( std::function< void(std::vector< uint8_t > &, size_t)>  reception_callback )

pure virtual

Start a receive thread that calls the provided reception_callback when data is received.

Parameters

reception_callback

Function to call when data is received

Returns

True if the receive thread was started successfully, false otherwise

Implemented in staubli_robot_driver::TCPSocket, and staubli_robot_driver::UDPSocket.

stop_receive_thread()

virtual bool staubli_robot_driver::Socket::stop_receive_thread ( )

pure virtual

Stop the receive thread.

Returns

True if the receive thread was stopped successfully, false otherwise

Implemented in staubli_robot_driver::TCPSocket, and staubli_robot_driver::UDPSocket.

is_receiving()

virtual bool staubli_robot_driver::Socket::is_receiving ( ) const

pure virtual

Check if the receive thread is running.

Returns

True if the receive thread is running, false otherwise

Implemented in staubli_robot_driver::TCPSocket, and staubli_robot_driver::UDPSocket.

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The documentation for this class was generated from the following file:

• /home/runner/work/staubli_driver_ros2/staubli_driver_ros2/staubli_robot_driver/include/staubli_robot_driver/communication/socket.hpp