Obbart/universal_robots_ros_driver
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Added and implemented primary messages

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This commit is contained in:
Felix Mauch
2019-04-08 15:39:59 +02:00
parent adf1560105
commit 4bf5793d79
18 changed files with 382 additions and 145 deletions
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113
include/ur_rtde_driver/ur/master_board.h
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@@ -1,113 +0,0 @@
/*
* Copyright 2017, 2018 Simon Rasmussen (refactor)
*
* Copyright 2015, 2016 Thomas Timm Andersen (original version)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#include <inttypes.h>
#include <bitset>
#include <cstddef>
#include "ur_rtde_driver/bin_parser.h"
#include "ur_rtde_driver/types.h"
#include "ur_rtde_driver/ur/state.h"
namespace ur_driver
{
class SharedMasterBoardData
{
public:
virtual bool parseWith(BinParser& bp);
int8_t analog_input_range0;
int8_t analog_input_range1;
double analog_input0;
double analog_input1;
int8_t analog_output_domain0;
int8_t analog_output_domain1;
double analog_output0;
double analog_output1;
float master_board_temperature;
float robot_voltage_48V;
float robot_current;
float master_IO_current;
bool euromap67_interface_installed;
// euromap fields are dynamic so don't include in SIZE
int32_t euromap_input_bits;
int32_t euromap_output_bits;
static const size_t SIZE = sizeof(double) * 4 + sizeof(int8_t) * 4 + sizeof(float) * 4 + sizeof(uint8_t);
static const size_t EURO_SIZE = sizeof(int32_t) * 2;
};
class MasterBoardData_V1_X : public SharedMasterBoardData, public StatePacket
{
public:
virtual bool parseWith(BinParser& bp);
virtual bool consumeWith(URStatePacketConsumer& consumer);
std::bitset<10> digital_input_bits;
std::bitset<10> digital_output_bits;
uint8_t master_safety_state;
bool master_on_off_state;
// euromap fields are dynamic so don't include in SIZE
int16_t euromap_voltage;
int16_t euromap_current;
static const size_t SIZE = SharedMasterBoardData::SIZE + sizeof(int16_t) * 2 + sizeof(uint8_t) * 2;
static const size_t EURO_SIZE = SharedMasterBoardData::EURO_SIZE + sizeof(int16_t) * 2;
};
class MasterBoardData_V3_0__1 : public SharedMasterBoardData, public StatePacket
{
public:
virtual bool parseWith(BinParser& bp);
virtual bool consumeWith(URStatePacketConsumer& consumer);
std::bitset<18> digital_input_bits;
std::bitset<18> digital_output_bits;
uint8_t safety_mode;
bool in_reduced_mode;
// euromap fields are dynamic so don't include in SIZE
float euromap_voltage;
float euromap_current;
static const size_t SIZE = SharedMasterBoardData::SIZE + sizeof(int32_t) * 2 + sizeof(uint8_t) * 2 +
sizeof(uint32_t); // UR internal field we skip
static const size_t EURO_SIZE = SharedMasterBoardData::EURO_SIZE + sizeof(float) * 2;
};
class MasterBoardData_V3_2 : public MasterBoardData_V3_0__1
{
public:
virtual bool parseWith(BinParser& bp);
virtual bool consumeWith(URStatePacketConsumer& consumer);
uint8_t operational_mode_selector_input;
uint8_t three_position_enabling_device_input;
static const size_t SIZE = MasterBoardData_V3_0__1::SIZE + sizeof(uint8_t) * 2;
};
} // namespace ur_driver

4
include/ur_rtde_driver/ur/robot_mode.h
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@@ -20,9 +20,9 @@
#include <inttypes.h>
#include <cstddef>
#include "ur_rtde_driver/bin_parser.h"
#include "ur_rtde_driver/comm/bin_parser.h"
#include "ur_rtde_driver/types.h"
#include "ur_rtde_driver/ur/state.h"
#include "ur_rtde_driver/comm/ur/state.h"
namespace ur_driver
{

4
include/ur_rtde_driver/ur/rt_state.h
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@@ -20,8 +20,8 @@
#include <inttypes.h>
#include <cstddef>
#include "ur_rtde_driver/bin_parser.h"
#include "ur_rtde_driver/comm/pipeline.h"
#include "ur_rtde_driver/comm/bin_parser.h"
#include "ur_rtde_driver/comm/comm/pipeline.h"
#include "ur_rtde_driver/types.h"
namespace ur_driver