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/bin_parser.h
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@@ -6,6 +6,8 @@
#include <cstddef> #include <cstddef>
#include <cstring> #include <cstring>
#include <string> #include <string>
#include <array>
#include <bitset>
#include "ur_modern_driver/log.h" #include "ur_modern_driver/log.h"
#include "ur_modern_driver/types.h" #include "ur_modern_driver/types.h"
@@ -144,6 +146,14 @@ public:
} }
} }
template <typename T, size_t N>
void parse(std::bitset<N>& set)
{
T val;
parse(val);
set = std::bitset<N>(val);
}
void consume() void consume()
{ {
buf_pos_ = buf_end_; buf_pos_ = buf_end_;

10
include/ur_modern_driver/ur/master_board.h
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@@ -2,6 +2,7 @@
#include <inttypes.h> #include <inttypes.h>
#include <cstddef> #include <cstddef>
#include <bitset>
#include "ur_modern_driver/bin_parser.h" #include "ur_modern_driver/bin_parser.h"
#include "ur_modern_driver/types.h" #include "ur_modern_driver/types.h"
#include "ur_modern_driver/ur/state.h" #include "ur_modern_driver/ur/state.h"
@@ -41,8 +42,9 @@ public:
virtual bool parseWith(BinParser& bp); virtual bool parseWith(BinParser& bp);
virtual bool consumeWith(URStatePacketConsumer& consumer); 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; uint8_t master_safety_state;
bool master_on_off_state; bool master_on_off_state;
@@ -62,8 +64,8 @@ public:
virtual bool parseWith(BinParser& bp); virtual bool parseWith(BinParser& bp);
virtual bool consumeWith(URStatePacketConsumer& consumer); virtual bool consumeWith(URStatePacketConsumer& consumer);
int32_t digital_input_bits; std::bitset<18> digital_input_bits;
int32_t digital_output_bits; std::bitset<18> digital_output_bits;
uint8_t safety_mode; uint8_t safety_mode;
bool in_reduced_mode; bool in_reduced_mode;

8
src/ur/master_board.cpp
View File

@@ -23,8 +23,8 @@ bool MasterBoardData_V1_X::parseWith(BinParser& bp)
if (!bp.checkSize<MasterBoardData_V1_X>()) if (!bp.checkSize<MasterBoardData_V1_X>())
return false; return false;
bp.parse(digital_input_bits); bp.parse<uint16_t, 10>(digital_input_bits);
bp.parse(digital_output_bits); bp.parse<uint16_t, 10>(digital_output_bits);
SharedMasterBoardData::parseWith(bp); SharedMasterBoardData::parseWith(bp);
@@ -49,8 +49,8 @@ bool MasterBoardData_V3_0__1::parseWith(BinParser& bp)
if (!bp.checkSize<MasterBoardData_V3_0__1>()) if (!bp.checkSize<MasterBoardData_V3_0__1>())
return false; return false;
bp.parse(digital_input_bits); bp.parse<uint32_t, 18>(digital_input_bits);
bp.parse(digital_output_bits); bp.parse<uint32_t, 18>(digital_output_bits);
SharedMasterBoardData::parseWith(bp); SharedMasterBoardData::parseWith(bp);