Obbart/universal_robots_ros_driver
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Changed masterboard IO data to bitset

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This commit is contained in:
Simon Rasmussen
2017-04-13 10:34:51 +02:00
parent 618dd35c43
commit a4ca9f1703
3 changed files with 21 additions and 9 deletions
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10
include/ur_modern_driver/ur/master_board.h
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@@ -2,6 +2,7 @@
#include <inttypes.h>
#include <cstddef>
#include <bitset>
#include "ur_modern_driver/bin_parser.h"
#include "ur_modern_driver/types.h"
#include "ur_modern_driver/ur/state.h"
@@ -41,8 +42,9 @@ public:
virtual bool parseWith(BinParser& bp);
virtual bool consumeWith(URStatePacketConsumer& consumer);
int16_t digital_input_bits;
int16_t digital_output_bits;
std::bitset<10> digital_input_bits;
std::bitset<10> digital_output_bits;
uint8_t master_safety_state;
bool master_on_off_state;
@@ -62,8 +64,8 @@ public:
virtual bool parseWith(BinParser& bp);
virtual bool consumeWith(URStatePacketConsumer& consumer);
int32_t digital_input_bits;
int32_t digital_output_bits;
std::bitset<18> digital_input_bits;
std::bitset<18> digital_output_bits;
uint8_t safety_mode;
bool in_reduced_mode;