Obbart/universal_robots_ros_driver
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implemented serializing of the output setup and control start packages

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This commit is contained in:
Tristan Schnell
2019-04-11 13:57:36 +02:00
parent b604af749f
commit 8975957b5f
5 changed files with 50 additions and 0 deletions
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include/ur_rtde_driver/rtde/control_package_setup_outputs.h
+7
View File
@@ -29,6 +29,7 @@
#define UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_OUTPUTS_H_INCLUDED
#include "ur_rtde_driver/rtde/rtde_package.h"
#include "ur_rtde_driver/rtde/package_header.h"
namespace ur_driver
{
@@ -53,8 +54,14 @@ public:
ControlPackageSetupOutputsRequest() = default;
virtual ~ControlPackageSetupOutputsRequest() = default;
static size_t generateSerializedRequest(uint8_t* buffer, double output_frequency,
std::vector<std::string> variable_names);
double output_frequency_;
std::string variable_names_;
private:
static const PackageType PACKAGE_TYPE = PackageType::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS;
};
} // namespace rtde_interface
include/ur_rtde_driver/rtde/control_package_start.h
+6
View File
@@ -51,6 +51,12 @@ class ControlPackageStartRequest : public RTDEPackage
public:
ControlPackageStartRequest() = default;
virtual ~ControlPackageStartRequest() = default;
static size_t generateSerializedRequest(uint8_t* buffer);
private:
static const uint16_t PAYLOAD_SIZE = 0;
static const PackageType PACKAGE_TYPE = PackageType::RTDE_CONTROL_PACKAGE_START;
};
} // namespace rtde_interface