Obbart/universal_robots_ros_driver
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Code Releases Activity

Merge current development into release

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This commit is contained in:
Felix Mauch
2019-09-19 15:32:41 +02:00
parent 6c740665df 39afd72e6e
commit 9225d92715
5 changed files with 34 additions and 9 deletions
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6
ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h
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@@ -31,6 +31,7 @@
#include <memory> #include <memory>
#include "ur_rtde_driver/log.h" #include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/types.h" #include "ur_rtde_driver/types.h"
#include "ur_rtde_driver/exceptions.h"
namespace ur_driver namespace ur_driver
{ {
@@ -93,7 +94,10 @@ public:
template <typename T> template <typename T>
T peek() T peek()
{ {
assert(buf_pos_ + sizeof(T) <= buf_end_); if (buf_pos_ + sizeof(T) > buf_end_)
throw UrException("Could not parse received package. This can occur if the driver is started while the robot is "
"booting - please restart the driver once the robot has finished booting. "
"If the problem persists after the robot has booted, please contact the package maintainer.");
T val; T val;
std::memcpy(&val, buf_pos_, sizeof(T)); std::memcpy(&val, buf_pos_, sizeof(T));
return decode(val); return decode(val);

10
ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_parser.h
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@@ -42,7 +42,7 @@ class RTDEParser : public comm::Parser<PackageHeader>
{ {
public: public:
RTDEParser() = delete; RTDEParser() = delete;
RTDEParser(const std::vector<std::string>& recipe) : recipe_(recipe) RTDEParser(const std::vector<std::string>& recipe) : recipe_(recipe), protocol_version_(1)
{ {
} }
virtual ~RTDEParser() = default; virtual ~RTDEParser() = default;
@@ -98,6 +98,11 @@ public:
return true; return true;
} }
void setProtocolVersion(uint16_t protocol_version)
{
protocol_version_ = protocol_version;
}
private: private:
std::vector<std::string> recipe_; std::vector<std::string> recipe_;
RTDEPackage* packageFromType(PackageType type) RTDEPackage* packageFromType(PackageType type)
@@ -105,7 +110,7 @@ private:
switch (type) switch (type)
{ {
case PackageType::RTDE_TEXT_MESSAGE: case PackageType::RTDE_TEXT_MESSAGE:
return new TextMessage; return new TextMessage(protocol_version_);
break; break;
case PackageType::RTDE_GET_URCONTROL_VERSION: case PackageType::RTDE_GET_URCONTROL_VERSION:
return new GetUrcontrolVersion; return new GetUrcontrolVersion;
@@ -129,6 +134,7 @@ private:
return new RTDEPackage(type); return new RTDEPackage(type);
} }
} }
uint16_t protocol_version_;
}; };
} // namespace rtde_interface } // namespace rtde_interface

7
ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h
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@@ -37,7 +37,8 @@ namespace rtde_interface
class TextMessage : public RTDEPackage class TextMessage : public RTDEPackage
{ {
public: public:
TextMessage() : RTDEPackage(PackageType::RTDE_TEXT_MESSAGE) TextMessage(uint16_t protocol_version)
: RTDEPackage(PackageType::RTDE_TEXT_MESSAGE), protocol_version_(protocol_version)
{ {
} }
virtual ~TextMessage() = default; virtual ~TextMessage() = default;
@@ -50,6 +51,10 @@ public:
uint8_t source_length_; uint8_t source_length_;
std::string source_; std::string source_;
uint8_t warning_level_; uint8_t warning_level_;
uint8_t message_type_;
uint16_t protocol_version_;
}; };
} // namespace rtde_interface } // namespace rtde_interface

2
ur_rtde_driver/src/rtde/rtde_client.cpp
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@@ -74,6 +74,8 @@ bool RTDEClient::init()
} }
} }
parser_.setProtocolVersion(protocol_version);
// determine maximum frequency from ur-control version // determine maximum frequency from ur-control version
size = GetUrcontrolVersionRequest::generateSerializedRequest(buffer); size = GetUrcontrolVersionRequest::generateSerializedRequest(buffer);
stream_.write(buffer, size, written); stream_.write(buffer, size, written);

18
ur_rtde_driver/src/rtde/text_message.cpp
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@@ -33,11 +33,19 @@ namespace rtde_interface
{ {
bool TextMessage::parseWith(comm::BinParser& bp) bool TextMessage::parseWith(comm::BinParser& bp)
{ {
bp.parse(message_length_); if (protocol_version_ == 2)
bp.parse(message_, message_length_); {
bp.parse(source_length_); bp.parse(message_length_);
bp.parse(source_, source_length_); bp.parse(message_, message_length_);
bp.parse(warning_level_); bp.parse(source_length_);
bp.parse(source_, source_length_);
bp.parse(warning_level_);
}
else if (protocol_version_ == 1)
{
bp.parse(message_type_);
bp.parseRemainder(message_);
}
return true; return true;
} }