Obbart/universal_robots_ros_driver
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Refactoring, improvements and fixes

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This commit is contained in:
Simon Rasmussen
2017-02-09 12:16:51 +01:00
parent e94bbb5536
commit 43974dcbf2
10 changed files with 258 additions and 97 deletions
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22
src/ur/master_board.cpp
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@@ -40,8 +40,8 @@ bool MasterBoardData_V1_X::parse_with(BinParser &bp) {
return true;
}
bool MasterBoardData_V3_X::parse_with(BinParser &bp) {
if(!bp.check_size<MasterBoardData_V3_X>())
bool MasterBoardData_V3_0__1::parse_with(BinParser &bp) {
if(!bp.check_size<MasterBoardData_V3_0__1>())
return false;
bp.parse(digital_input_bits);
@@ -54,13 +54,29 @@ bool MasterBoardData_V3_X::parse_with(BinParser &bp) {
bp.parse(euromap67_interface_installed);
if(euromap67_interface_installed) {
if(!bp.check_size(MasterBoardData_V3_X::EURO_SIZE))
if(!bp.check_size(MasterBoardData_V3_0__1::EURO_SIZE))
return false;
bp.parse(euromap_voltage);
bp.parse(euromap_current);
}
bp.consume(sizeof(uint32_t));
return true;
}
bool MasterBoardData_V3_2::parse_with(BinParser &bp) {
if(!bp.check_size<MasterBoardData_V3_2>())
return false;
MasterBoardData_V3_0__1::parse_with(bp);
bp.parse(operational_mode_selector_input);
bp.parse(three_position_enabling_device_input);
return true;
}