Obbart/universal_robots_ros_driver
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added input datatypes and necessary functionality for RTDE write to the data package class

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This commit is contained in:
Tristan Schnell
2019-07-31 12:58:59 +02:00
parent d68de02fd9
commit 323125f84d
2 changed files with 116 additions and 1 deletions
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68
ur_rtde_driver/src/rtde/data_package.cpp
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@@ -138,6 +138,30 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
{ "output_double_register_23", double() },
{ "input_bit_registers0_to_31", uint32_t() },
{ "input_bit_registers32_to_63", uint32_t() },
{ "input_bit_register_0", bool() },
{ "input_bit_register_1", bool() },
{ "input_bit_register_2", bool() },
{ "input_bit_register_3", bool() },
{ "input_bit_register_4", bool() },
{ "input_bit_register_5", bool() },
{ "input_bit_register_6", bool() },
{ "input_bit_register_7", bool() },
{ "input_bit_register_8", bool() },
{ "input_bit_register_9", bool() },
{ "input_bit_register_10", bool() },
{ "input_bit_register_11", bool() },
{ "input_bit_register_12", bool() },
{ "input_bit_register_13", bool() },
{ "input_bit_register_14", bool() },
{ "input_bit_register_15", bool() },
{ "input_bit_register_16", bool() },
{ "input_bit_register_17", bool() },
{ "input_bit_register_18", bool() },
{ "input_bit_register_19", bool() },
{ "input_bit_register_20", bool() },
{ "input_bit_register_21", bool() },
{ "input_bit_register_22", bool() },
{ "input_bit_register_23", bool() },
{ "input_int_register_0", int32_t() },
{ "input_int_register_1", int32_t() },
{ "input_int_register_2", int32_t() },
@@ -185,9 +209,31 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
{ "input_double_register_20", double() },
{ "input_double_register_21", double() },
{ "input_double_register_22", double() },
{ "input_double_register_23", double() }
{ "input_double_register_23", double() },
{ "speed_slider_mask", uint32_t() },
{ "speed_slider_fraction", double() },
{ "standard_digital_output_mask", uint8_t() },
{ "standard_digital_output", uint8_t() },
{ "configurable_digital_output_mask", uint8_t() },
{ "configurable_digital_output", uint8_t() },
{ "tool_digital_output_mask", uint8_t() },
{ "tool_digital_output", uint8_t() },
{ "standard_analog_output_mask", uint8_t() },
{ "standard_analog_output_type", uint8_t() },
};
void rtde_interface::DataPackage::initEmpty()
{
for (auto& item : recipe_)
{
if (g_type_list.find(item) != g_type_list.end())
{
_rtde_type_variant entry = g_type_list[item];
data_[item] = entry;
}
}
}
bool rtde_interface::DataPackage ::parseWith(comm::BinParser& bp)
{
bp.parse(recipe_id_);
@@ -218,5 +264,25 @@ std::string rtde_interface::DataPackage::toString() const
}
return ss.str();
}
size_t rtde_interface::DataPackage::serializePackage(uint8_t* buffer)
{
uint16_t payload_size = sizeof(recipe_id_);
for (auto& item : data_)
{
payload_size += boost::apply_visitor(SizeVisitor{}, item.second);
}
size_t size = 0;
size += PackageHeader::serializeHeader(buffer, PackageType::RTDE_DATA_PACKAGE, payload_size);
size += comm::PackageSerializer::serialize(buffer + size, recipe_id_);
for (auto& item : recipe_)
{
auto bound_visitor = std::bind(SerializeVisitor(), std::placeholders::_1, buffer + size);
size += boost::apply_visitor(bound_visitor, data_[item]);
}
return size;
}
} // namespace rtde_interface
} // namespace ur_driver