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Added support for std::vector strings in UrDriver #408

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Added support for std::vector strings in UrDriver #408

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10 changes: 6 additions & 4 deletions include/ur_client_library/ur/ur_driver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,10 +52,12 @@ namespace urcl
*/
struct UrDriverConfiguration
{
std::string robot_ip; //!< IP-address under which the robot is reachable.
std::string script_file; //!< URScript file that should be sent to the robot.
std::string output_recipe_file; //!< Filename where the output recipe is stored in.
std::string input_recipe_file; //!< Filename where the input recipe is stored in.
std::string robot_ip; //!< IP-address under which the robot is reachable.
std::string script_file; //!< URScript file that should be sent to the robot.
std::string output_recipe_file; //!< Filename where the output recipe is stored in.
std::string input_recipe_file; //!< Filename where the input recipe is stored in.
std::vector<std::string> output_recipe; //!< Vector with the output recipe fields.
std::vector<std::string> input_recipe; //!< Vector with the input recipe fields.

/*!
* \brief Function handle to a callback on program state changes.
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7 changes: 5 additions & 2 deletions src/ur/ur_driver.cpp
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Expand Up @@ -76,8 +76,11 @@ void UrDriver::init(const UrDriverConfiguration& config)

URCL_LOG_DEBUG("Initializing urdriver");
URCL_LOG_DEBUG("Initializing RTDE client");
rtde_client_.reset(
new rtde_interface::RTDEClient(robot_ip_, notifier_, config.output_recipe_file, config.input_recipe_file));
if (config.output_recipe_file.empty() && config.input_recipe_file.empty())
rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip_, notifier_, config.output_recipe, config.input_recipe));
else
rtde_client_.reset(
new rtde_interface::RTDEClient(robot_ip_, notifier_, config.output_recipe_file, config.input_recipe_file));

primary_client_.reset(new urcl::primary_interface::PrimaryClient(robot_ip_, notifier_));

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