Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-12 19:10:47 +02:00
Code Releases Activity

Added a common package ancestor

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

18
include/ur_rtde_driver/rtde/rtde_header.h
View File

@@ -1,4 +1,4 @@
// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
@@ -20,13 +20,10 @@
#include <endian.h>
#include "ur_rtde_driver/types.h"
namespace ur_driver
{
namespace rtde_interface
{
enum class PackageType
{
RTDE_REQUEST_PROTOCOL_VERSION = 86, // ascii V
@@ -39,30 +36,23 @@ enum class PackageType
RTDE_CONTROL_PACKAGE_PAUSE = 80 // ascii P
};
class Header
{
public:
Header() = default;
virtual ~Header() = default;
using _package_size_type = uint16_t;
static size_t getPackageLength(uint8_t* buf)
{
return be16toh(*(reinterpret_cast<uint16_t*>(buf)));
return be16toh(*(reinterpret_cast<_package_size_type*>(buf)));
}
static size_t getPackageSize()
{
return sizeof(package_size_);
}
private:
uint16_t package_size_;
_package_size_type package_size_;
PackageType package_type_;
};
} // namespace rtde_interface
} // namespace ur_driver

9
include/ur_rtde_driver/rtde/rtde_package.h
View File

@@ -25,28 +25,23 @@
*/
//----------------------------------------------------------------------
#ifndef UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED
#define UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED
#include "ur_rtde_driver/rtde/rtde_header.h"
#include "ur_rtde_driver/comm/package.h"
namespace ur_driver
{
namespace rtde_interface
{
class RTDEPackage
class RTDEPackage : comm::URPackage<Header>
{
public:
RTDEPackage() = default;
virtual ~RTDEPackage() = default;
};
} // namespace rtde_interface
} // namespace ur_driver