Obbart/universal_robots_ros_driver
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Add support for version 3.5

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A new undocumented uchar was added to RobotMode
This commit is contained in:
Simon Schmeisser (isys vision)
2018-01-08 09:14:54 +01:00
committed by Simon Rasmussen
parent 6950b3c4bd
commit bf85755744
4 changed files with 35 additions and 3 deletions
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4
include/ur_modern_driver/ur/factory.h
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@@ -94,8 +94,10 @@ public:
{
if (minor_version_ < 3)
return std::unique_ptr<URParser<StatePacket>>(new URStateParser_V3_0__1);
else
else if (minor_version_ < 5)
return std::unique_ptr<URParser<StatePacket>>(new URStateParser_V3_2);
else
return std::unique_ptr<URParser<StatePacket>>(new URStateParser_V3_5);
}
}

15
include/ur_modern_driver/ur/robot_mode.h
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@@ -102,4 +102,17 @@ public:
static const size_t SIZE = RobotModeData_V3_0__1::SIZE + sizeof(double);
static_assert(RobotModeData_V3_2::SIZE == 41, "RobotModeData_V3_2 has missmatched size");
};
};
class RobotModeData_V3_5 : public RobotModeData_V3_2
{
public:
virtual bool parseWith(BinParser& bp);
virtual bool consumeWith(URStatePacketConsumer& consumer);
unsigned char unknown_internal_use;
static const size_t SIZE = RobotModeData_V3_2::SIZE + sizeof(unsigned char);
static_assert(RobotModeData_V3_5::SIZE == 42, "RobotModeData_V3_5 has missmatched size");
};

1
include/ur_modern_driver/ur/state_parser.h
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@@ -96,3 +96,4 @@ public:
typedef URStateParser<RobotModeData_V1_X, MasterBoardData_V1_X> URStateParser_V1_X;
typedef URStateParser<RobotModeData_V3_0__1, MasterBoardData_V3_0__1> URStateParser_V3_0__1;
typedef URStateParser<RobotModeData_V3_2, MasterBoardData_V3_2> URStateParser_V3_2;
typedef URStateParser<RobotModeData_V3_5, MasterBoardData_V3_2> URStateParser_V3_5;

18
src/ur/robot_mode.cpp
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@@ -54,6 +54,18 @@ bool RobotModeData_V3_2::parseWith(BinParser& bp)
return true;
}
bool RobotModeData_V3_5::parseWith(BinParser& bp)
{
if (!bp.checkSize<RobotModeData_V3_5>())
return false;
RobotModeData_V3_2::parseWith(bp);
bp.parse(unknown_internal_use);
return true;
}
bool RobotModeData_V1_X::consumeWith(URStatePacketConsumer& consumer)
{
return consumer.consume(*this);
@@ -65,4 +77,8 @@ bool RobotModeData_V3_0__1::consumeWith(URStatePacketConsumer& consumer)
bool RobotModeData_V3_2::consumeWith(URStatePacketConsumer& consumer)
{
return consumer.consume(*this);
}
}
bool RobotModeData_V3_5::consumeWith(URStatePacketConsumer& consumer)
{
return consumer.consume(*this);
}