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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21
src/rtde/control_package_setup_outputs.cpp
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@@ -46,5 +46,26 @@ std::string ControlPackageSetupOutputs::toString() const
return ss.str();
}
size_t ControlPackageSetupOutputsRequest::generateSerializedRequest(uint8_t* buffer, double output_frequency,
std::vector<std::string> variable_names)
{
if (variable_names.size() == 0)
{
return 0;
}
std::string variables;
for (const auto& piece : variable_names)
variables += (piece + ",");
variables.pop_back();
uint16_t payload_size = sizeof(double) + variables.size();
size_t size = 0;
size += PackageHeader::serializeHeader(buffer, PACKAGE_TYPE, payload_size);
size += comm::PackageSerializer::serialize(buffer + size, output_frequency);
size += comm::PackageSerializer::serialize(buffer + size, variables);
return size;
}
} // namespace rtde_interface
} // namespace ur_driver

5
src/rtde/control_package_start.cpp
View File

@@ -44,5 +44,10 @@ std::string ControlPackageStart::toString() const
return ss.str();
}
size_t ControlPackageStartRequest::generateSerializedRequest(uint8_t* buffer)
{
return PackageHeader::serializeHeader(buffer, PACKAGE_TYPE, PAYLOAD_SIZE);
}
} // namespace rtde_interface
} // namespace ur_driver