Added parse and toString functions for higher-level primary functions

include/ur_rtde_driver/primary/primary_package.h

@@ -35,16 +35,20 @@ namespace ur_driver
 {
 namespace primary_interface
 {
-class PrimaryPackage : comm::URPackage<PackageHeader>
+class PrimaryPackage : public comm::URPackage<PackageHeader>
 {
 public:
   PrimaryPackage() = default;
   virtual ~PrimaryPackage() = default;
 
+  virtual bool parseWith(comm::BinParser& bp);
+  virtual std::string toString() const;
+
 private:
-  uint8_t* data_buffer_;
+  std::string buffer_;
 };
 
+
 }  // namespace primary_interface
 }  // namespace ur_driver
 

include/ur_rtde_driver/primary/robot_message.h

@@ -34,20 +34,7 @@ namespace ur_driver
 {
 namespace primary_interface
 {
-enum class 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 RobotMessage : PrimaryPackage
+class RobotMessage : public PrimaryPackage
 {
 public:
   RobotMessage(const uint64_t timestamp, const uint8_t source) : timestamp_(timestamp), source_(source)
@@ -55,8 +42,8 @@ public:
   }
   virtual ~RobotMessage() = default;
 
-  virtual bool parseWith(comm::BinParser& bp) = 0;
-  virtual std::string toString() const = 0;
+  virtual bool parseWith(comm::BinParser& bp);
+  virtual std::string toString() const;
 
   uint64_t timestamp_;
   uint8_t source_;

include/ur_rtde_driver/primary/robot_message/version_message.h

@@ -40,6 +40,7 @@ public:
   VersionMessage(uint64_t timestamp, uint8_t source) : RobotMessage(timestamp, source)
   {
   }
+  virtual ~VersionMessage() = default;
 
   virtual bool parseWith(comm::BinParser& bp);
 

include/ur_rtde_driver/primary/robot_state.h

@@ -48,6 +48,15 @@ public:
   RobotState() = default;
   virtual ~RobotState() = default;
 
+  virtual bool parseWith(comm::BinParser& bp)
+  {
+    return true;
+  }
+  virtual std::string toString() const
+  {
+    return std::string();
+  }
+
 private:
 };
 

include/ur_rtde_driver/primary/robot_state/kinematics_info.h

@@ -26,7 +26,7 @@ namespace primary_interface
  * a combination between the perfect model parameters and the correction deltas as noted in the
  * configuration files on the robot controller.
  */
-class KinematicsInfo : RobotState
+class KinematicsInfo : public RobotState
 {
 public:
   KinematicsInfo() = default;

include/ur_rtde_driver/rtde/package_header.h

@@ -43,6 +43,9 @@ public:
   virtual ~PackageHeader() = default;
   using _package_size_type = uint16_t;
 
+  PackageHeader(PackageType& type) : package_type_(type){};
+  PackageHeader(_package_size_type& size, PackageType& type) : package_size_(size), package_type_(type){};
+
   static size_t getPackageLength(uint8_t* buf)
   {
     return be16toh(*(reinterpret_cast<_package_size_type*>(buf)));