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Implemented parsing and toString for RTDE data package

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This commit is contained in:
Felix Mauch
2019-04-10 16:20:42 +02:00
parent 642f040cd8
commit 466fc03e31
5 changed files with 288 additions and 5 deletions
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44
include/ur_rtde_driver/rtde/data_package.h
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@@ -28,20 +28,56 @@
#ifndef UR_RTDE_DRIVER_DATA_PACKAGE_H_INCLUDED
#define UR_RTDE_DRIVER_DATA_PACKAGE_H_INCLUDED
#include <unordered_map>
#include "ur_rtde_driver/types.h"
#include "ur_rtde_driver/rtde/rtde_package.h"
#include <boost/variant.hpp>
namespace ur_driver
{
namespace rtde_interface
{
struct ParseVisitor : public boost::static_visitor<>
{
template <typename T>
void operator()(T& d, comm::BinParser& bp) const
{
bp.parse(d);
}
};
struct StringVisitor : public boost::static_visitor<std::string>
{
template <typename T>
std::string operator()(T& d) const
{
std::stringstream ss;
ss << d;
return ss.str();
}
};
class DataPackage : public RTDEPackage
{
private:
uint8_t recipe_id_;
public:
DataPackage() = default;
using _rtde_type_variant = boost::variant<bool, uint8_t, uint32_t, uint64_t, int32_t, double, vector3d_t, vector6d_t,
vector6int32_t, vector6uint32_t, std::string>;
DataPackage() = delete;
DataPackage(const std::vector<std::string>& recipe) : recipe_(recipe)
{
}
virtual ~DataPackage() = default;
virtual bool parseWith(comm::BinParser& bp);
virtual std::string toString() const;
private:
// Const would be better here
static std::unordered_map<std::string, _rtde_type_variant> type_list_;
std::unordered_map<std::string, _rtde_type_variant> data_;
std::vector<std::string> recipe_;
};
} // namespace rtde_interface