Added and implemented rtde message types

CMakeLists.txt

@@ -79,6 +79,13 @@ add_library(ur_rtde_driver
     src/primary/robot_message.cpp
     src/primary/robot_message/version_message.cpp
     src/primary/robot_state/kinematics_info.cpp
+    src/rtde/request_protocol_version.cpp
+    src/rtde/get_urcontrol_version.cpp
+    src/rtde/text_message.cpp
+    src/rtde/control_package_setup_outputs.cpp
+    src/rtde/control_package_setup_inputs.cpp
+    src/rtde/control_package_start.cpp
+    src/rtde/control_package_pause.cpp
 )
 target_link_libraries(ur_rtde_driver ${catkin_LIBRARIES})
 add_dependencies(ur_rtde_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

include/ur_rtde_driver/primary/primary_package.h

@@ -48,7 +48,6 @@ private:
   std::string buffer_;
 };
 
-
 }  // namespace primary_interface
 }  // namespace ur_driver
 

include/ur_rtde_driver/rtde/control_package_pause.h

@@ -0,0 +1,59 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_PAUSE_H_INCLUDED
+#define UR_RTDE_DRIVER_CONTROL_PACKAGE_PAUSE_H_INCLUDED
+
+#include "ur_rtde_driver/rtde/rtde_package.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+class ControlPackagePause : public RTDEPackage
+{
+public:
+  ControlPackagePause() = default;
+  virtual ~ControlPackagePause() = default;
+
+  virtual bool parseWith(comm::BinParser& bp);
+  virtual std::string toString() const;
+
+  uint8_t accepted_;
+};
+
+class ControlPackagePauseRequest : public RTDEPackage
+{
+public:
+  ControlPackagePauseRequest() = default;
+  virtual ~ControlPackagePauseRequest() = default;
+};
+
+}  // namespace rtde_interface
+}  // namespace ur_driver
+
+#endif  // UR_RTDE_DRIVER_CONTROL_PACKAGE_PAUSE_H_INCLUDED

include/ur_rtde_driver/rtde/control_package_setup_inputs.h

@@ -0,0 +1,62 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_INPUTS_H_INCLUDED
+#define UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_INPUTS_H_INCLUDED
+
+#include "ur_rtde_driver/rtde/rtde_package.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+class ControlPackageSetupInputs : public RTDEPackage
+{
+public:
+  ControlPackageSetupInputs() = default;
+  virtual ~ControlPackageSetupInputs() = default;
+
+  virtual bool parseWith(comm::BinParser& bp);
+  virtual std::string toString() const;
+
+  uint8_t input_recipe_id_;
+  std::string variable_types_;
+};
+
+class ControlPackageSetupInputsRequest : public RTDEPackage
+{
+public:
+  ControlPackageSetupInputsRequest() = default;
+  virtual ~ControlPackageSetupInputsRequest() = default;
+
+  std::string variable_names_;
+};
+
+}  // namespace rtde_interface
+}  // namespace ur_driver
+
+#endif  // UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_INPUTS_H_INCLUDED

include/ur_rtde_driver/rtde/control_package_setup_outputs.h

@@ -0,0 +1,63 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_OUTPUTS_H_INCLUDED
+#define UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_OUTPUTS_H_INCLUDED
+
+#include "ur_rtde_driver/rtde/rtde_package.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+class ControlPackageSetupOutputs : public RTDEPackage
+{
+public:
+  ControlPackageSetupOutputs() = default;
+  virtual ~ControlPackageSetupOutputs() = default;
+
+  virtual bool parseWith(comm::BinParser& bp);
+  virtual std::string toString() const;
+
+  uint8_t output_recipe_id_;
+  std::string variable_types_;
+};
+
+class ControlPackageSetupOutputsRequest : public RTDEPackage
+{
+public:
+  ControlPackageSetupOutputsRequest() = default;
+  virtual ~ControlPackageSetupOutputsRequest() = default;
+
+  double output_frequency_;
+  std::string variable_names_;
+};
+
+}  // namespace rtde_interface
+}  // namespace ur_driver
+
+#endif  // UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_OUTPUTS_H_INCLUDED

include/ur_rtde_driver/rtde/control_package_start.h

@@ -0,0 +1,59 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_START_H_INCLUDED
+#define UR_RTDE_DRIVER_CONTROL_PACKAGE_START_H_INCLUDED
+
+#include "ur_rtde_driver/rtde/rtde_package.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+class ControlPackageStart : public RTDEPackage
+{
+public:
+  ControlPackageStart() = default;
+  virtual ~ControlPackageStart() = default;
+
+  virtual bool parseWith(comm::BinParser& bp);
+  virtual std::string toString() const;
+
+  uint8_t accepted_;
+};
+
+class ControlPackageStartRequest : public RTDEPackage
+{
+public:
+  ControlPackageStartRequest() = default;
+  virtual ~ControlPackageStartRequest() = default;
+};
+
+}  // namespace rtde_interface
+}  // namespace ur_driver
+
+#endif  // UR_RTDE_DRIVER_CONTROL_PACKAGE_START_H_INCLUDED

include/ur_rtde_driver/rtde/data_package.h

@@ -34,7 +34,7 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
-class DataPackage : RTDEPackage
+class DataPackage : public RTDEPackage
 {
 private:
   uint8_t recipe_id_;

include/ur_rtde_driver/rtde/get_urcontrol_version.h

@@ -0,0 +1,62 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_GET_URCONTROL_VERSION_H_INCLUDED
+#define UR_RTDE_DRIVER_GET_URCONTROL_VERSION_H_INCLUDED
+
+#include "ur_rtde_driver/rtde/rtde_package.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+class GetUrcontrolVersion : public RTDEPackage
+{
+public:
+  GetUrcontrolVersion() = default;
+  virtual ~GetUrcontrolVersion() = default;
+
+  virtual bool parseWith(comm::BinParser& bp);
+  virtual std::string toString() const;
+
+  uint32_t major_;
+  uint32_t minor_;
+  uint32_t bugfix_;
+  uint32_t build_;
+};
+
+class GetUrcontrolVersionRequest : public RTDEPackage
+{
+public:
+  GetUrcontrolVersionRequest() = default;
+  virtual ~GetUrcontrolVersionRequest() = default;
+};
+
+}  // namespace rtde_interface
+}  // namespace ur_driver
+
+#endif  // UR_RTDE_DRIVER_GET_URCONTROL_VERSION_H_INCLUDED

include/ur_rtde_driver/rtde/request_protocol_version.h

@@ -0,0 +1,61 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_REQUEST_PROTOCOL_VERSION_H_INCLUDED
+#define UR_RTDE_DRIVER_REQUEST_PROTOCOL_VERSION_H_INCLUDED
+
+#include "ur_rtde_driver/rtde/rtde_package.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+class RequestProtocolVersion : public RTDEPackage
+{
+public:
+  RequestProtocolVersion() = default;
+  virtual ~RequestProtocolVersion() = default;
+
+  virtual bool parseWith(comm::BinParser& bp);
+  virtual std::string toString() const;
+
+  uint8_t accepted_;
+};
+
+class RequestProtocolVersionRequest : public RTDEPackage
+{
+public:
+  RequestProtocolVersionRequest() = default;
+  virtual ~RequestProtocolVersionRequest() = default;
+
+  uint16_t protocol_version_;
+};
+
+}  // namespace rtde_interface
+}  // namespace ur_driver
+
+#endif  // UR_RTDE_DRIVER_REQUEST_PROTOCOL_VERSION_H_INCLUDED

include/ur_rtde_driver/rtde/rtde_package.h

@@ -35,7 +35,7 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
-class RTDEPackage : comm::URPackage<PackageHeader>
+class RTDEPackage : public comm::URPackage<PackageHeader>
 {
 public:
   RTDEPackage() = default;

include/ur_rtde_driver/rtde/text_message.h

@@ -34,14 +34,23 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
-class TextMessage : RTDEPackage
+class TextMessage : public RTDEPackage
 {
 public:
   TextMessage() = default;
   virtual ~TextMessage() = default;
+
+  virtual bool parseWith(comm::BinParser& bp);
+  virtual std::string toString() const;
+
+  uint8_t message_length_;
+  std::string message_;
+  uint8_t source_length_;
+  std::string source_;
+  uint8_t warning_level_;
 };
 
 }  // namespace rtde_interface
 }  // namespace ur_driver
 
-#endif  // UR_RTDE_DRIVER_TEXT_MESSAGE_H_INCLUDED
+#endif  // UR_RTDE_DRIVER_TEXT_MESSAGE_H_INCLUDED

src/rtde/control_package_pause.cpp

@@ -0,0 +1,48 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#include "ur_rtde_driver/rtde/control_package_pause.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+bool ControlPackagePause::parseWith(comm::BinParser& bp)
+{
+  bp.parse(accepted_);
+
+  return true;
+}
+std::string ControlPackagePause::toString() const
+{
+  std::stringstream ss;
+  ss << "accepted: " << accepted_;
+
+  return ss.str();
+}
+}  // namespace rtde_interface
+}  // namespace ur_driver

src/rtde/control_package_setup_inputs.cpp

@@ -0,0 +1,50 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#include "ur_rtde_driver/rtde/control_package_setup_inputs.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+bool ControlPackageSetupInputs::parseWith(comm::BinParser& bp)
+{
+  bp.parse(input_recipe_id_);
+  bp.parseRemainder(variable_types_);
+
+  return true;
+}
+std::string ControlPackageSetupInputs::toString() const
+{
+  std::stringstream ss;
+  ss << "input recipe id: " << input_recipe_id_ << std::endl;
+  ss << "variable types: " << variable_types_;
+
+  return ss.str();
+}
+}  // namespace rtde_interface
+}  // namespace ur_driver

src/rtde/control_package_setup_outputs.cpp

@@ -0,0 +1,50 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#include "ur_rtde_driver/rtde/control_package_setup_outputs.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+bool ControlPackageSetupOutputs::parseWith(comm::BinParser& bp)
+{
+  bp.parse(output_recipe_id_);
+  bp.parseRemainder(variable_types_);
+
+  return true;
+}
+std::string ControlPackageSetupOutputs::toString() const
+{
+  std::stringstream ss;
+  ss << "output recipe id: " << output_recipe_id_ << std::endl;
+  ss << "variable types: " << variable_types_;
+
+  return ss.str();
+}
+}  // namespace rtde_interface
+}  // namespace ur_driver

src/rtde/control_package_start.cpp

@@ -0,0 +1,48 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#include "ur_rtde_driver/rtde/control_package_start.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+bool ControlPackageStart::parseWith(comm::BinParser& bp)
+{
+  bp.parse(accepted_);
+
+  return true;
+}
+std::string ControlPackageStart::toString() const
+{
+  std::stringstream ss;
+  ss << "accepted: " << accepted_;
+
+  return ss.str();
+}
+}  // namespace rtde_interface
+}  // namespace ur_driver

src/rtde/get_urcontrol_version.cpp

@@ -0,0 +1,52 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#include "ur_rtde_driver/rtde/get_urcontrol_version.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+bool GetUrcontrolVersion::parseWith(comm::BinParser& bp)
+{
+  bp.parse(major_);
+  bp.parse(minor_);
+  bp.parse(bugfix_);
+  bp.parse(build_);
+
+  return true;
+}
+std::string GetUrcontrolVersion::toString() const
+{
+  std::stringstream ss;
+  ss << "version: " << major_ << ".";
+  ss << minor_ << "." << bugfix_ << "." << build_;
+
+  return ss.str();
+}
+}  // namespace rtde_interface
+}  // namespace ur_driver

src/rtde/request_protocol_version.cpp

@@ -0,0 +1,45 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#include "ur_rtde_driver/rtde/request_protocol_version.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+bool RequestProtocolVersion::parseWith(comm::BinParser& bp)
+{
+  bp.parse(accepted_);
+
+  return true;
+}
+std::string RequestProtocolVersion::toString() const
+{
+  return "accepted: " + accepted_;
+}
+}  // namespace rtde_interface
+}  // namespace ur_driver

src/rtde/text_message.cpp

@@ -0,0 +1,54 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#include "ur_rtde_driver/rtde/text_message.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+bool TextMessage::parseWith(comm::BinParser& bp)
+{
+  bp.parse(message_length_);
+  bp.parse(message_, message_length_);
+  bp.parse(source_length_);
+  bp.parse(source_, source_length_);
+  bp.parse(warning_level_);
+
+  return true;
+}
+std::string TextMessage::toString() const
+{
+  std::stringstream ss;
+  ss << "message: " << message_ << std::endl;
+  ss << "source: " << source_ << std::endl;
+  ss << "warning level: " << warning_level_;
+
+  return ss.str();
+}
+}  // namespace rtde_interface
+}  // namespace ur_driver