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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122
src/ur/master_board.cpp
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@@ -1,97 +1,99 @@
#include "ur_modern_driver/ur/master_board.h"
#include "ur_modern_driver/ur/consumer.h"
bool SharedMasterBoardData::parse_with(BinParser& bp)
bool SharedMasterBoardData::parseWith(BinParser& bp)
{
bp.parse(analog_input_range0);
bp.parse(analog_input_range1);
bp.parse(analog_input0);
bp.parse(analog_input1);
bp.parse(analog_output_domain0);
bp.parse(analog_output_domain1);
bp.parse(analog_output0);
bp.parse(analog_output1);
bp.parse(master_board_temperature);
bp.parse(robot_voltage_48V);
bp.parse(robot_current);
bp.parse(master_IO_current);
return true;
bp.parse(analog_input_range0);
bp.parse(analog_input_range1);
bp.parse(analog_input0);
bp.parse(analog_input1);
bp.parse(analog_output_domain0);
bp.parse(analog_output_domain1);
bp.parse(analog_output0);
bp.parse(analog_output1);
bp.parse(master_board_temperature);
bp.parse(robot_voltage_48V);
bp.parse(robot_current);
bp.parse(master_IO_current);
return true;
}
bool MasterBoardData_V1_X::parse_with(BinParser& bp)
bool MasterBoardData_V1_X::parseWith(BinParser& bp)
{
if (!bp.check_size<MasterBoardData_V1_X>())
return false;
if (!bp.checkSize<MasterBoardData_V1_X>())
return false;
bp.parse(digital_input_bits);
bp.parse(digital_output_bits);
bp.parse(digital_input_bits);
bp.parse(digital_output_bits);
SharedMasterBoardData::parse_with(bp);
SharedMasterBoardData::parseWith(bp);
bp.parse(master_safety_state);
bp.parse(master_on_off_state);
bp.parse(euromap67_interface_installed);
bp.parse(master_safety_state);
bp.parse(master_on_off_state);
bp.parse(euromap67_interface_installed);
if (euromap67_interface_installed) {
if (!bp.check_size(MasterBoardData_V1_X::EURO_SIZE))
return false;
if (euromap67_interface_installed)
{
if (!bp.checkSize(MasterBoardData_V1_X::EURO_SIZE))
return false;
bp.parse(euromap_voltage);
bp.parse(euromap_current);
}
bp.parse(euromap_voltage);
bp.parse(euromap_current);
}
return true;
return true;
}
bool MasterBoardData_V3_0__1::parse_with(BinParser& bp)
bool MasterBoardData_V3_0__1::parseWith(BinParser& bp)
{
if (!bp.check_size<MasterBoardData_V3_0__1>())
return false;
if (!bp.checkSize<MasterBoardData_V3_0__1>())
return false;
bp.parse(digital_input_bits);
bp.parse(digital_output_bits);
bp.parse(digital_input_bits);
bp.parse(digital_output_bits);
SharedMasterBoardData::parse_with(bp);
SharedMasterBoardData::parseWith(bp);
bp.parse(safety_mode);
bp.parse(in_reduced_mode);
bp.parse(euromap67_interface_installed);
bp.parse(safety_mode);
bp.parse(in_reduced_mode);
bp.parse(euromap67_interface_installed);
if (euromap67_interface_installed) {
if (!bp.check_size(MasterBoardData_V3_0__1::EURO_SIZE))
return false;
if (euromap67_interface_installed)
{
if (!bp.checkSize(MasterBoardData_V3_0__1::EURO_SIZE))
return false;
bp.parse(euromap_voltage);
bp.parse(euromap_current);
}
bp.parse(euromap_voltage);
bp.parse(euromap_current);
}
bp.consume(sizeof(uint32_t));
bp.consume(sizeof(uint32_t));
return true;
return true;
}
bool MasterBoardData_V3_2::parse_with(BinParser& bp)
bool MasterBoardData_V3_2::parseWith(BinParser& bp)
{
if (!bp.check_size<MasterBoardData_V3_2>())
return false;
if (!bp.checkSize<MasterBoardData_V3_2>())
return false;
MasterBoardData_V3_0__1::parse_with(bp);
MasterBoardData_V3_0__1::parseWith(bp);
bp.parse(operational_mode_selector_input);
bp.parse(three_position_enabling_device_input);
bp.parse(operational_mode_selector_input);
bp.parse(three_position_enabling_device_input);
return true;
return true;
}
bool MasterBoardData_V1_X::consume_with(URStatePacketConsumer& consumer)
bool MasterBoardData_V1_X::consumeWith(URStatePacketConsumer& consumer)
{
return consumer.consume(*this);
return consumer.consume(*this);
}
bool MasterBoardData_V3_0__1::consume_with(URStatePacketConsumer& consumer)
bool MasterBoardData_V3_0__1::consumeWith(URStatePacketConsumer& consumer)
{
return consumer.consume(*this);
return consumer.consume(*this);
}
bool MasterBoardData_V3_2::consume_with(URStatePacketConsumer& consumer)
bool MasterBoardData_V3_2::consumeWith(URStatePacketConsumer& consumer)
{
return consumer.consume(*this);
return consumer.consume(*this);
}