Added and implemented rtde message types

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