Added and implemented primary messages

src/primary/robot_message/version_message.cpp

@@ -0,0 +1,63 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik (ur_rtde_driver)
+// 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.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2019-04-08
+ *
+ */
+//----------------------------------------------------------------------
+
+#include "ur_rtde_driver/log.h"
+#include "ur_rtde_driver/primary/robot_message/version_message.h"
+
+namespace ur_driver
+{
+namespace primary_interface
+{
+bool VersionMessage::parseWith(comm::BinParser& bp)
+{
+  bp.parse(timestamp_);
+  bp.parse(source_);
+  bp.parse(message_type_);
+  bp.parse(project_name_);
+  bp.parse(major_version_);
+  bp.parse(minor_version_);
+  bp.parse(svn_version_);
+  bp.parse(build_number_);
+  bp.parseRemainder(build_date_);
+
+  return true;  // not really possible to check dynamic size packets
+}
+
+std::string VersionMessage::toString() const
+{
+  std::stringstream ss;
+  ss << "project name: " << project_name_ << std::endl;
+  ss << "version: " << major_version_ << "." << minor_version_ << "." << svn_version_ << std::endl;
+  ss << "build date: " << build_date_;
+
+  return ss.str();
+}
+}  // namespace primary_interface
+}  // namespace ur_driver

src/primary/robot_state/kinematics_info.cpp

@@ -0,0 +1,68 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2019-04-08
+ *
+ */
+//----------------------------------------------------------------------
+
+#include "ur_rtde_driver/log.h"
+#include "ur_rtde_driver/primary/robot_state/kinematics_info.h"
+
+namespace ur_driver
+{
+namespace primary_interface
+{
+bool KinematicsInfo::parseWith(comm::BinParser& bp)
+{
+  bp.parse(checksum_);
+  bp.parse(dh_theta_);
+  bp.parse(dh_a_);
+  bp.parse(dh_d_);
+  bp.parse(dh_alpha_);
+  bp.parse(calibration_status_);
+
+  return true;
+}
+
+std::string KinematicsInfo::toString() const
+{
+  std::stringstream os;
+  os << "dh_theta: [";
+  for (size_t i = 0; i < dh_theta_.size(); ++i)
+  {
+    os << dh_theta_[i] << " ";
+  }
+  os << "]" << std::endl;
+
+  os << "dh_a: [";
+  for (size_t i = 0; i < dh_a_.size(); ++i)
+  {
+    os << dh_a_[i] << " ";
+  }
+  os << "]" << std::endl;
+
+  os << "dh_d: [";
+  for (size_t i = 0; i < dh_d_.size(); ++i)
+  {
+    os << dh_d_[i] << " ";
+  }
+  os << "]" << std::endl;
+
+  os << "dh_alpha: [";
+  for (size_t i = 0; i < dh_alpha_.size(); ++i)
+  {
+    os << dh_alpha_[i] << " ";
+  }
+  os << "]" << std::endl;
+
+  return os.str();
+}
+}  // namespace primary_interface
+}  // namespace ur_driver

src/ur/messages.cpp

@@ -28,7 +28,7 @@ bool VersionMessage::parseWith(BinParser& bp)
   bp.parse(minor_version);
   bp.parse(svn_version);
   bp.consume(sizeof(uint32_t));  // undocumented field??
-  bp.parse_remainder(build_date);
+  bp.parseRemainder(build_date);
 
   return true;  // not really possible to check dynamic size packets
 }