Obbart/universal_robots_ros_driver
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Adopted roscpp code style and naming convention

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This commit is contained in:
Simon Rasmussen
2017-03-01 13:59:48 +01:00
parent e4bc40fc09
commit 474f469e97
44 changed files with 5097 additions and 4891 deletions
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68
include/ur_modern_driver/ur/messages.h
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@@ -1,51 +1,51 @@
#pragma once
#include <inttypes.h>
#include <cstddef>
#include "ur_modern_driver/bin_parser.h"
#include "ur_modern_driver/pipeline.h"
#include <cstddef>
#include <inttypes.h>
enum class robot_message_type : uint8_t {
ROBOT_MESSAGE_TEXT = 0,
ROBOT_MESSAGE_PROGRAM_LABEL = 1,
PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
ROBOT_MESSAGE_VERSION = 3,
ROBOT_MESSAGE_SAFETY_MODE = 5,
ROBOT_MESSAGE_ERROR_CODE = 6,
ROBOT_MESSAGE_KEY = 7,
ROBOT_MESSAGE_REQUEST_VALUE = 9,
ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
enum class robot_message_type : uint8_t
{
ROBOT_MESSAGE_TEXT = 0,
ROBOT_MESSAGE_PROGRAM_LABEL = 1,
PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
ROBOT_MESSAGE_VERSION = 3,
ROBOT_MESSAGE_SAFETY_MODE = 5,
ROBOT_MESSAGE_ERROR_CODE = 6,
ROBOT_MESSAGE_KEY = 7,
ROBOT_MESSAGE_REQUEST_VALUE = 9,
ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
};
class URMessagePacketConsumer;
class MessagePacket {
class MessagePacket
{
public:
MessagePacket(uint64_t timestamp, uint8_t source)
: timestamp(timestamp)
, source(source)
{
}
virtual bool parse_with(BinParser& bp) = 0;
virtual bool consume_with(URMessagePacketConsumer& consumer) = 0;
MessagePacket(uint64_t timestamp, uint8_t source) : timestamp(timestamp), source(source)
{
}
virtual bool parseWith(BinParser& bp) = 0;
virtual bool consumeWith(URMessagePacketConsumer& consumer) = 0;
uint64_t timestamp;
uint8_t source;
uint64_t timestamp;
uint8_t source;
};
class VersionMessage : public MessagePacket {
class VersionMessage : public MessagePacket
{
public:
VersionMessage(uint64_t timestamp, uint8_t source)
: MessagePacket(timestamp, source)
{
}
VersionMessage(uint64_t timestamp, uint8_t source) : MessagePacket(timestamp, source)
{
}
virtual bool parse_with(BinParser& bp);
virtual bool consume_with(URMessagePacketConsumer& consumer);
virtual bool parseWith(BinParser& bp);
virtual bool consumeWith(URMessagePacketConsumer& consumer);
std::string project_name;
uint8_t major_version;
uint8_t minor_version;
int32_t svn_version;
std::string build_date;
std::string project_name;
uint8_t major_version;
uint8_t minor_version;
int32_t svn_version;
std::string build_date;
};