Added parse and toString functions for higher-level primary functions

src/primary/primary_package.cpp

@@ -0,0 +1,46 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// 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    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#include "ur_rtde_driver/primary/primary_package.h"
+
+namespace ur_driver
+{
+namespace primary_interface
+{
+bool PrimaryPackage::parseWith(comm::BinParser& bp)
+{
+  bp.parseRemainder(buffer_);
+  return true;
+}
+
+std::string PrimaryPackage::toString() const
+{
+  return buffer_;
+}
+
+}  // namespace primary_interface
+}  // namespace ur_driver

src/primary/robot_message.cpp

@@ -0,0 +1,53 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik (ur_rtde_driver)
+//
+// 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    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+#include "ur_rtde_driver/primary/robot_message.h"
+
+namespace ur_driver
+{
+namespace primary_interface
+{
+bool RobotMessage::parseWith(comm::BinParser& bp)
+{
+  bp.parse(timestamp_);
+  bp.parse(source_);
+  bp.parse(message_type_);
+
+  return true;
+}
+
+std::string RobotMessage::toString() const
+{
+  std::stringstream ss;
+  ss << "timestamp: " << timestamp_ << std::endl;
+  ss << "source: " << static_cast<int>(source_) << std::endl;
+  ss << "message_type: " << static_cast<int>(message_type_) << std::endl;
+
+  return ss.str();
+}
+
+}  // namespace primary_interface
+}  // namespace ur_driver

src/primary/robot_message/version_message.cpp

@@ -37,9 +37,7 @@ namespace primary_interface
 {
 bool VersionMessage::parseWith(comm::BinParser& bp)
 {
-  bp.parse(timestamp_);
-  bp.parse(source_);
-  bp.parse(message_type_);
+  RobotMessage::parseWith(bp);
   bp.parse(project_name_);
   bp.parse(major_version_);
   bp.parse(minor_version_);