Obbart/universal_robots_ros_driver
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Parsing masterboard data

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This commit is contained in:
Thomas Timm Andersen
2015-09-16 11:26:06 +02:00
parent 8f3ae49e28
commit 0feb493799
2 changed files with 145 additions and 24 deletions
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9
include/ur_modern_driver/robot_state.h
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@@ -81,13 +81,12 @@ struct masterboard_data {
float robotCurrent;
float masterIOCurrent;
unsigned char safetyMode;
unsigned char InReducedMode;
unsigned char masterOnOffState;
char euromap67InterfaceInstalled;
int euromapInputBits;
int euromapOutputBits;
float euromapVoltage;
float euromapCurrent;
uint32_t internal;
};
@@ -134,8 +133,12 @@ public:
void finishedReading();
std::vector<double> getVActual();
int unpack(uint8_t * buf, unsigned int buf_length);
void unpackRobotMessage(uint8_t * buf, unsigned int offset,uint32_t len);
void unpackRobotMessage(uint8_t * buf, unsigned int offset, uint32_t len);
void unpackRobotMessageVersion(uint8_t * buf, unsigned int offset,
uint32_t len);
void unpackRobotState(uint8_t * buf, unsigned int offset, uint32_t len);
void unpackRobotStateMasterboard(uint8_t * buf, unsigned int offset);
};
#endif /* ROBOT_STATE_H_ */