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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43
include/ur_modern_driver/ur/state.h
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@@ -1,34 +1,37 @@
#pragma once
#include <inttypes.h>
#include <cstddef>
#include "ur_modern_driver/bin_parser.h"
#include "ur_modern_driver/log.h"
#include "ur_modern_driver/pipeline.h"
#include <cstddef>
#include <inttypes.h>
enum class package_type : uint8_t {
ROBOT_MODE_DATA = 0,
JOINT_DATA = 1,
TOOL_DATA = 2,
MASTERBOARD_DATA = 3,
CARTESIAN_INFO = 4,
KINEMATICS_INFO = 5,
CONFIGURATION_DATA = 6,
FORCE_MODE_DATA = 7,
ADDITIONAL_INFO = 8,
CALIBRATION_DATA = 9
enum class package_type : uint8_t
{
ROBOT_MODE_DATA = 0,
JOINT_DATA = 1,
TOOL_DATA = 2,
MASTERBOARD_DATA = 3,
CARTESIAN_INFO = 4,
KINEMATICS_INFO = 5,
CONFIGURATION_DATA = 6,
FORCE_MODE_DATA = 7,
ADDITIONAL_INFO = 8,
CALIBRATION_DATA = 9
};
enum class message_type : uint8_t {
ROBOT_STATE = 16,
ROBOT_MESSAGE = 20,
PROGRAM_STATE_MESSAGE = 25
enum class message_type : uint8_t
{
ROBOT_STATE = 16,
ROBOT_MESSAGE = 20,
PROGRAM_STATE_MESSAGE = 25
};
class URStatePacketConsumer;
class StatePacket {
class StatePacket
{
public:
virtual bool parse_with(BinParser& bp) = 0;
virtual bool consume_with(URStatePacketConsumer& consumer) = 0;
virtual bool parseWith(BinParser& bp) = 0;
virtual bool consumeWith(URStatePacketConsumer& consumer) = 0;
};