mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-12 11:00:47 +02:00
removed unused legacy code
This commit is contained in:
Tristan Schnell
committed by
Felix Mauch
Felix Mauch
parent
d0e995ff7c
commit
3aafabec29
@@ -1,173 +0,0 @@
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/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Copyright 2015, 2016 Thomas Timm Andersen (original version)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "ur_rtde_driver/ur/commander.h"
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#include "ur_rtde_driver/log.h"
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namespace ur_driver
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{
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bool URCommander::write(const std::string& s)
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{
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size_t len = s.size();
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const uint8_t* data = reinterpret_cast<const uint8_t*>(s.c_str());
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size_t written;
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return stream_.write(data, len, written);
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}
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void URCommander::formatArray(std::ostringstream& out, std::array<double, 6>& values)
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{
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std::string mod("[");
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for (auto const& val : values)
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{
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out << mod << val;
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mod = ",";
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}
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out << "]";
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}
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bool URCommander::uploadProg(const std::string& s)
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{
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LOG_DEBUG("Sending program [%s]", s.c_str());
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return write(s);
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}
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bool URCommander::setToolVoltage(uint8_t voltage)
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{
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if (voltage != 0 || voltage != 12 || voltage != 24)
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return false;
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std::ostringstream out;
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out << "set_tool_voltage(" << (int)voltage << ")\n";
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std::string s(out.str());
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return write(s);
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}
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bool URCommander::setFlag(uint8_t pin, bool value)
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{
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std::ostringstream out;
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out << "set_flag(" << (int)pin << "," << (value ? "True" : "False") << ")\n";
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std::string s(out.str());
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return write(s);
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}
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bool URCommander::setPayload(double value)
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{
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std::ostringstream out;
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out << "set_payload(" << std::fixed << std::setprecision(5) << value << ")\n";
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std::string s(out.str());
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return write(s);
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}
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bool URCommander::stopj(double a)
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{
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std::ostringstream out;
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out << "stopj(" << std::fixed << std::setprecision(5) << a << ")\n";
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std::string s(out.str());
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return write(s);
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}
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bool URCommander_V1_X::speedj(std::array<double, 6>& speeds, double acceleration)
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{
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std::ostringstream out;
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out << std::fixed << std::setprecision(5);
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out << "speedj(";
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formatArray(out, speeds);
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out << "," << acceleration << "," << 0.02 << ")\n";
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std::string s(out.str());
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return write(s);
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}
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bool URCommander_V1_X::setAnalogOut(uint8_t pin, double value)
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{
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std::ostringstream out;
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out << "sec io_fun():\n"
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<< "set_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(4) << value << ")\n"
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<< "end\n";
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std::string s(out.str());
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return write(s);
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}
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bool URCommander_V1_X::setDigitalOut(uint8_t pin, bool value)
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{
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std::ostringstream out;
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out << "sec io_fun():\n"
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<< "set_digital_out(" << (int)pin << "," << (value ? "True" : "False") << ")\n"
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<< "end\n";
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std::string s(out.str());
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return write(s);
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}
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bool URCommander_V3_X::setAnalogOut(uint8_t pin, double value)
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{
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std::ostringstream out;
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out << "sec io_fun():\n"
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<< "set_standard_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(5) << value << ")\n"
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<< "end\n";
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std::string s(out.str());
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return write(s);
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}
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bool URCommander_V3_X::setDigitalOut(uint8_t pin, bool value)
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{
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std::ostringstream out;
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std::string func;
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if (pin < 8)
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{
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func = "set_standard_digital_out";
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}
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else if (pin < 16)
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{
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func = "set_configurable_digital_out";
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pin -= 8;
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}
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else if (pin < 18)
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{
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func = "set_tool_digital_out";
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pin -= 16;
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}
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else
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return false;
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out << "sec io_fun():\n"
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<< func << "(" << (int)pin << "," << (value ? "True" : "False") << ")\n"
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<< "end\n";
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std::string s(out.str());
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return write(s);
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}
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bool URCommander_V3_1__2::speedj(std::array<double, 6>& speeds, double acceleration)
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{
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std::ostringstream out;
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out << std::fixed << std::setprecision(5);
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out << "speedj(";
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formatArray(out, speeds);
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out << "," << acceleration << ")\n";
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std::string s(out.str());
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return write(s);
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}
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bool URCommander_V3_3::speedj(std::array<double, 6>& speeds, double acceleration)
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{
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std::ostringstream out;
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out << std::fixed << std::setprecision(5);
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out << "speedj(";
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formatArray(out, speeds);
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out << "," << acceleration << "," << 0.008 << ")\n";
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std::string s(out.str());
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return write(s);
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}
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} // namespace ur_driver
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@@ -1,124 +0,0 @@
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/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Copyright 2015, 2016 Thomas Timm Andersen (original version)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "ur_rtde_driver/ur/master_board.h"
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#include "ur_rtde_driver/ur/consumer.h"
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namespace ur_driver
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{
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bool SharedMasterBoardData::parseWith(BinParser& bp)
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{
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bp.parse(analog_input_range0);
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bp.parse(analog_input_range1);
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bp.parse(analog_input0);
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bp.parse(analog_input1);
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bp.parse(analog_output_domain0);
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bp.parse(analog_output_domain1);
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bp.parse(analog_output0);
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bp.parse(analog_output1);
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bp.parse(master_board_temperature);
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bp.parse(robot_voltage_48V);
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bp.parse(robot_current);
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bp.parse(master_IO_current);
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return true;
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}
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bool MasterBoardData_V1_X::parseWith(BinParser& bp)
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{
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if (!bp.checkSize<MasterBoardData_V1_X>())
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return false;
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bp.parse<uint16_t, 10>(digital_input_bits);
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bp.parse<uint16_t, 10>(digital_output_bits);
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SharedMasterBoardData::parseWith(bp);
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bp.parse(master_safety_state);
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bp.parse(master_on_off_state);
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bp.parse(euromap67_interface_installed);
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if (euromap67_interface_installed)
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{
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if (!bp.checkSize(MasterBoardData_V1_X::EURO_SIZE))
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return false;
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bp.parse(euromap_input_bits);
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bp.parse(euromap_output_bits);
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bp.parse(euromap_voltage);
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bp.parse(euromap_current);
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}
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return true;
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}
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bool MasterBoardData_V3_0__1::parseWith(BinParser& bp)
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{
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if (!bp.checkSize<MasterBoardData_V3_0__1>())
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return false;
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bp.parse<uint32_t, 18>(digital_input_bits);
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bp.parse<uint32_t, 18>(digital_output_bits);
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SharedMasterBoardData::parseWith(bp);
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bp.parse(safety_mode);
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bp.parse(in_reduced_mode);
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bp.parse(euromap67_interface_installed);
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if (euromap67_interface_installed)
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{
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if (!bp.checkSize(MasterBoardData_V3_0__1::EURO_SIZE))
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return false;
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bp.parse(euromap_input_bits);
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bp.parse(euromap_output_bits);
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bp.parse(euromap_voltage);
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bp.parse(euromap_current);
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}
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bp.consume(sizeof(uint32_t));
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return true;
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}
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bool MasterBoardData_V3_2::parseWith(BinParser& bp)
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{
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if (!bp.checkSize<MasterBoardData_V3_2>())
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return false;
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MasterBoardData_V3_0__1::parseWith(bp);
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bp.parse(operational_mode_selector_input);
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bp.parse(three_position_enabling_device_input);
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return true;
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}
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bool MasterBoardData_V1_X::consumeWith(URStatePacketConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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bool MasterBoardData_V3_0__1::consumeWith(URStatePacketConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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bool MasterBoardData_V3_2::consumeWith(URStatePacketConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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} // namespace ur_driver
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@@ -1,40 +0,0 @@
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/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Copyright 2015, 2016 Thomas Timm Andersen (original version)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "ur_rtde_driver/ur/messages.h"
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#include "ur_rtde_driver/ur/consumer.h"
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namespace ur_driver
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{
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bool VersionMessage::parseWith(BinParser& bp)
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{
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bp.parse(project_name);
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bp.parse(major_version);
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bp.parse(minor_version);
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bp.parse(svn_version);
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bp.consume(sizeof(uint32_t)); // undocumented field??
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bp.parseRemainder(build_date);
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return true; // not really possible to check dynamic size packets
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}
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bool VersionMessage::consumeWith(URMessagePacketConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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} // namespace ur_driver
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@@ -1,105 +0,0 @@
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/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Copyright 2015, 2016 Thomas Timm Andersen (original version)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "ur_rtde_driver/ur/robot_mode.h"
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#include "ur_rtde_driver/ur/consumer.h"
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namespace ur_driver
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{
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bool SharedRobotModeData::parseWith(BinParser& bp)
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{
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bp.parse(timestamp);
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bp.parse(physical_robot_connected);
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bp.parse(real_robot_enabled);
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bp.parse(robot_power_on);
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bp.parse(emergency_stopped);
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bp.parse(protective_stopped);
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bp.parse(program_running);
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bp.parse(program_paused);
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return true;
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}
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bool RobotModeData_V1_X::parseWith(BinParser& bp)
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{
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if (!bp.checkSize<RobotModeData_V1_X>())
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return false;
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SharedRobotModeData::parseWith(bp);
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bp.parse(robot_mode);
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bp.parse(speed_fraction);
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return true;
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}
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bool RobotModeData_V3_0__1::parseWith(BinParser& bp)
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{
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if (!bp.checkSize<RobotModeData_V3_0__1>())
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return false;
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SharedRobotModeData::parseWith(bp);
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bp.parse(robot_mode);
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bp.parse(control_mode);
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bp.parse(target_speed_fraction);
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bp.parse(speed_scaling);
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return true;
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}
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bool RobotModeData_V3_2::parseWith(BinParser& bp)
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{
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if (!bp.checkSize<RobotModeData_V3_2>())
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return false;
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RobotModeData_V3_0__1::parseWith(bp);
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bp.parse(target_speed_fraction_limit);
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return true;
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}
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bool RobotModeData_V3_5::parseWith(BinParser& bp)
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{
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if (!bp.checkSize<RobotModeData_V3_5>())
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return false;
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RobotModeData_V3_2::parseWith(bp);
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bp.parse(unknown_internal_use);
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return true;
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}
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bool RobotModeData_V1_X::consumeWith(URStatePacketConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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bool RobotModeData_V3_0__1::consumeWith(URStatePacketConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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bool RobotModeData_V3_2::consumeWith(URStatePacketConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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bool RobotModeData_V3_5::consumeWith(URStatePacketConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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} // namespace ur_driver
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