Obbart/universal_robots_ros_driver
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Added a common package ancestor

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This commit is contained in:
Felix Mauch
2019-04-08 10:15:01 +02:00
parent f7c51bae87
commit 3c61cbeb35
5 changed files with 61 additions and 39 deletions
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14
include/ur_rtde_driver/primary/primary_header.h
View File

@@ -36,7 +36,7 @@
namespace ur_driver
{
namespace primary
namespace primary_interface
{
enum class message_type : int8_t
{
@@ -77,7 +77,6 @@ enum class robot_message_type : uint8_t
ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
};
class Header
{
public:
@@ -87,18 +86,11 @@ public:
using _package_size_type = int32_t;
static size_t getPackageLength(uint8_t* buf)
{
return be32toh(*(reinterpret_cast<int32_t*>(buf)));
return be32toh(*(reinterpret_cast<_package_size_type*>(buf)));
}
static size_t getPackageSize()
{
return sizeof(package_size_);
}
private:
int32_t package_size_;
_package_size_type package_size_;
int8_t package_type_;
};
} // namespace primary_interface

11
include/ur_rtde_driver/primary/primary_package.h
View File

@@ -29,25 +29,22 @@
#define UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED
#include "ur_rtde_driver/primary/primary_header.h"
#include "ur_rtde_driver/comm/package.h"
namespace ur_driver
{
namespace primary_interface
{
class PrimaryPackage
class PrimaryPackage : comm::URPackage<Header>
{
private:
uint8_t* data_buffer_;
public:
PrimaryPackage() = default;
virtual ~PrimaryPackage() = default;
private:
uint8_t* data_buffer_;
};
} // namespace primary_interface
} // namespace ur_driver