Obbart/universal_robots_ros_driver
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Removed old state file

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This commit is contained in:
Simon Rasmussen
2017-03-03 03:55:29 +01:00
parent 474f469e97
commit 7828304e37
1 changed files with 0 additions and 115 deletions
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115
src/ur/state.cpp
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@@ -1,115 +0,0 @@
#include "ur_modern_driver/ur/state.h"
#include "ur_modern_driver/log.h"
// StatePacket::~StatePacket() { }
/*
bool RobotState::parseWith(BinParser &bp) {
//continue as long as there are bytes to read
while(!bp.empty()) {
if(!bp.checkSize(sizeof(uint32_t))){
LOG_ERROR("Failed to read sub-package length, there's likely a parsing error");
return false;
}
uint32_t sub_size = bp.peek<uint32_t>();
if(!bp.checkSize(static_cast<size_t>(sub_size))) {
LOG_WARN("Invalid sub-package size of %" PRIu32 " received!", sub_size);
return false;
}
//deconstruction of a sub parser will increment the position of the parent parser
BinParser sub_parser(bp, sub_size);
sub_parser.consume(sizeof(sub_size));
if(!parse_package(sub_parser)) {
LOG_ERROR("Failed to parse sub-package");
return false;
}
if(!sub_parser.empty()) {
LOG_ERROR("Sub-package was not parsed completely!");
return false;
}
}
return true;
}
template <typename T>
bool parse_base(BinParser &bp, T &pkg) {
package_type type = bp.peek<package_type>();
switch(type) {
case package_type::ROBOT_MODE_DATA:
LOG_DEBUG("Parsing robot_mode");
bp.consume(sizeof(package_type));
pkg.robot_mode.parseWith(bp);
break;
case package_type::MASTERBOARD_DATA:
LOG_DEBUG("Parsing master_board");
bp.consume(sizeof(package_type));
pkg.master_board.parseWith(bp);
break;
case package_type::TOOL_DATA:
case package_type::CARTESIAN_INFO:
case package_type::JOINT_DATA:
LOG_DEBUG("Skipping tool, cartesian or joint data");
//for unhandled packages we consume the rest of the
//package buffer
bp.consume();
break;
default:
return false;
}
return true;
}
template <typename T>
bool parse_advanced(BinParser &bp, T &pkg) {
if(parse_base(bp, pkg))
return true;
package_type type = bp.peek<package_type>();
switch(type) {
case package_type::KINEMATICS_INFO:
case package_type::CONFIGURATION_DATA:
case package_type::ADDITIONAL_INFO:
case package_type::CALIBRATION_DATA:
case package_type::FORCE_MODE_DATA:
LOG_DEBUG("Skipping kinematics, config, additional, calibration or force mode data");
//for unhandled packages we consume the rest of the
//package buffer
bp.consume();
break;
default:
LOG_ERROR("Invalid sub-package type parsed: %" PRIu8 "", type);
return false;
}
return true;
}
bool RobotState_V1_6__7::parse_package(BinParser &bp) {
if(!parse_base(bp, *this)) {
LOG_ERROR("Invalid sub-package type parsed: %" PRIu8 "", bp.peek<package_type>());
return false;
}
return true;
}
bool RobotState_V1_8::parse_package(BinParser &bp) {
return parse_advanced(bp, *this);
}
bool RobotState_V3_0__1::parse_package(BinParser &bp) {
return parse_advanced(bp, *this);
}
bool RobotState_V3_2::parse_package(BinParser &bp) {
return parse_advanced(bp, *this);
}
*/