Obbart/universal_robots_ros_driver
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implemented handling of different protocol versions for rtde text message parsing

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This commit is contained in:
Tristan Schnell
2019-07-17 17:14:13 +02:00
parent 6ea9bc05ec
commit 0519866bb4
4 changed files with 29 additions and 8 deletions
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2
ur_rtde_driver/src/rtde/rtde_client.cpp
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@@ -74,6 +74,8 @@ bool RTDEClient::init()
}
}
parser_.setProtocolVersion(protocol_version);
// determine maximum frequency from ur-control version
size = GetUrcontrolVersionRequest::generateSerializedRequest(buffer);
stream_.write(buffer, size, written);

18
ur_rtde_driver/src/rtde/text_message.cpp
View File

@@ -33,11 +33,19 @@ namespace rtde_interface
{
bool TextMessage::parseWith(comm::BinParser& bp)
{
bp.parse(message_length_);
bp.parse(message_, message_length_);
bp.parse(source_length_);
bp.parse(source_, source_length_);
bp.parse(warning_level_);
if (protocol_version_ == 2)
{
bp.parse(message_length_);
bp.parse(message_, message_length_);
bp.parse(source_length_);
bp.parse(source_, source_length_);
bp.parse(warning_level_);
}
else if (protocol_version_ == 1)
{
bp.parse(message_type_);
bp.parseRemainder(message_);
}
return true;
}