mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 10:00:48 +02:00
implemented usage of recipe read by rtde client in the parser and the
rtde data package
This commit is contained in:
Felix Mauch
committed by
Tristan Schnell
Tristan Schnell
parent
420e04530f
commit
c322bcb2f2
@@ -31,165 +31,166 @@ namespace ur_driver
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namespace rtde_interface
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{
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std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::type_list_{
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{ "timestamp_", double() },
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{ "target_q_", vector6d_t() },
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{ "target_qd_", vector6d_t() },
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{ "target_qdd_", vector6d_t() },
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{ "target_current_", vector6d_t() },
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{ "target_moment_", vector6d_t() },
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{ "actual_q_", vector6d_t() },
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{ "actual_qd_", vector6d_t() },
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{ "actual_qdd_", vector6d_t() },
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{ "actual_current_", vector6d_t() },
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{ "actual_moment_", vector6d_t() },
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{ "joint_control_output_", vector6d_t() },
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{ "actual_TCP_pose_", vector6d_t() },
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{ "actual_TCP_speed_", vector6d_t() },
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{ "actual_TCP_force_", vector6d_t() },
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{ "target_TCP_pose_", vector6d_t() },
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{ "target_TCP_speed_", vector6d_t() },
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{ "actual_digital_input_bits_", uint64_t() },
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{ "joint_temperatures_", vector6d_t() },
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{ "actual_execution_time_", double() },
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{ "robot_mode_", int32_t() },
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{ "timestamp", double() },
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{ "target_q", vector6d_t() },
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{ "target_qd", vector6d_t() },
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{ "target_qdd", vector6d_t() },
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{ "target_current", vector6d_t() },
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{ "target_moment", vector6d_t() },
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{ "actual_q", vector6d_t() },
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{ "actual_qd", vector6d_t() },
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{ "actual_qdd", vector6d_t() },
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{ "actual_current", vector6d_t() },
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{ "actual_moment", vector6d_t() },
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{ "joint_control_output", vector6d_t() },
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{ "actual_TCP_pose", vector6d_t() },
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{ "actual_TCP_speed", vector6d_t() },
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{ "actual_TCP_force", vector6d_t() },
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{ "target_TCP_pose", vector6d_t() },
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{ "target_TCP_speed", vector6d_t() },
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{ "actual_digital_input_bits", uint64_t() },
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{ "joint_temperatures", vector6d_t() },
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{ "actual_execution_time", double() },
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{ "robot_mode", int32_t() },
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{ "joint_mode", vector6int32_t() },
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{ "safety_mode_", int32_t() },
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{ "safety_mode", int32_t() },
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{ "actual_tool_accelerometer", vector3d_t() },
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{ "speed_scaling_", double() },
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{ "target_speed_fraction_", double() },
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{ "actual_momentum_", double() },
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{ "actial_main_voltage_", double() },
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{ "actual_robot_voltage_", double() },
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{ "actual_robot_current_", double() },
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{ "actual_joint_voltage_", vector6d_t() },
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{ "actual_digital_output_bits_", uint64_t() },
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{ "runtime_state_", uint32_t() },
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{ "elbow_position_", vector3d_t() },
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{ "elbow_velocity_", vector3d_t() },
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{ "robot_status_bits_", uint32_t() },
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{ "safety_status_bits_", uint32_t() },
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{ "analog_io_types_", uint32_t() },
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{ "standard_analog_input0_", double() },
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{ "standard_analog_input1_", double() },
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{ "standard_analog_output0_", double() },
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{ "standard_analog_output1_", double() },
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{ "io_current_", double() },
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{ "euromap67_input_bits_", uint32_t() },
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{ "euromap67_output_bits_", uint32_t() },
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{ "euromap67_24V_voltage_", double() },
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{ "euromap67_24V_current_", double() },
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{ "tool_mode_", uint32_t() },
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{ "tool_analog_input_types_", uint32_t() },
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{ "tool_analog_input0_", double() },
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{ "tool_analog_input1_", double() },
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{ "tool_output_voltage_", int32_t() },
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{ "tool_output_current_", double() },
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{ "tool_temperature_", double() },
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{ "tool_force_scalar_", double() },
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{ "output_bit_registers0_to_31_", uint32_t() },
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{ "output_bit_registers32_to_63_", uint32_t() },
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{ "output_int_register_0_", int32_t() },
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{ "output_int_register_1_", int32_t() },
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{ "output_int_register_2_", int32_t() },
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{ "output_int_register_3_", int32_t() },
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{ "output_int_register_4_", int32_t() },
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{ "output_int_register_5_", int32_t() },
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{ "output_int_register_6_", int32_t() },
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{ "output_int_register_7_", int32_t() },
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{ "output_int_register_8_", int32_t() },
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{ "output_int_register_9_", int32_t() },
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{ "output_int_register_10_", int32_t() },
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{ "output_int_register_11_", int32_t() },
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{ "output_int_register_12_", int32_t() },
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{ "output_int_register_13_", int32_t() },
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{ "output_int_register_14_", int32_t() },
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{ "output_int_register_15_", int32_t() },
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{ "output_int_register_16_", int32_t() },
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{ "output_int_register_17_", int32_t() },
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{ "output_int_register_18_", int32_t() },
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{ "output_int_register_19_", int32_t() },
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{ "output_int_register_20_", int32_t() },
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{ "output_int_register_21_", int32_t() },
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{ "output_int_register_22_", int32_t() },
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{ "output_int_register_23_", int32_t() },
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{ "output_double_register_0_", double() },
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{ "output_double_register_1_", double() },
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{ "output_double_register_2_", double() },
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{ "output_double_register_3_", double() },
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{ "output_double_register_4_", double() },
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{ "output_double_register_5_", double() },
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{ "output_double_register_6_", double() },
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{ "output_double_register_7_", double() },
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{ "output_double_register_8_", double() },
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{ "output_double_register_9_", double() },
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{ "output_double_register_10_", double() },
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{ "output_double_register_11_", double() },
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{ "output_double_register_12_", double() },
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{ "output_double_register_13_", double() },
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{ "output_double_register_14_", double() },
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{ "output_double_register_15_", double() },
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{ "output_double_register_16_", double() },
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{ "output_double_register_17_", double() },
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{ "output_double_register_18_", double() },
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{ "output_double_register_19_", double() },
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{ "output_double_register_20_", double() },
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{ "output_double_register_21_", double() },
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{ "output_double_register_22_", double() },
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{ "output_double_register_23_", double() },
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{ "input_bit_registers0_to_31_", uint32_t() },
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{ "input_bit_registers32_to_63_", uint32_t() },
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{ "input_int_register_0_", int32_t() },
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{ "input_int_register_1_", int32_t() },
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{ "input_int_register_2_", int32_t() },
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{ "input_int_register_3_", int32_t() },
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{ "input_int_register_4_", int32_t() },
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{ "input_int_register_5_", int32_t() },
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{ "input_int_register_6_", int32_t() },
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{ "input_int_register_7_", int32_t() },
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{ "input_int_register_8_", int32_t() },
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{ "input_int_register_9_", int32_t() },
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{ "input_int_register_10_", int32_t() },
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{ "input_int_register_11_", int32_t() },
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{ "input_int_register_12_", int32_t() },
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{ "input_int_register_13_", int32_t() },
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{ "input_int_register_14_", int32_t() },
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{ "input_int_register_15_", int32_t() },
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{ "input_int_register_16_", int32_t() },
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{ "input_int_register_17_", int32_t() },
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{ "input_int_register_18_", int32_t() },
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{ "input_int_register_19_", int32_t() },
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{ "input_int_register_20_", int32_t() },
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{ "input_int_register_21_", int32_t() },
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{ "input_int_register_22_", int32_t() },
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{ "input_int_register_23_", int32_t() },
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{ "input_double_register_0_", double() },
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{ "input_double_register_1_", double() },
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{ "input_double_register_2_", double() },
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{ "input_double_register_3_", double() },
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{ "input_double_register_4_", double() },
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{ "input_double_register_5_", double() },
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{ "input_double_register_6_", double() },
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{ "input_double_register_7_", double() },
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{ "input_double_register_8_", double() },
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{ "input_double_register_9_", double() },
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{ "input_double_register_10_", double() },
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{ "input_double_register_11_", double() },
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{ "input_double_register_12_", double() },
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{ "input_double_register_13_", double() },
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{ "input_double_register_14_", double() },
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{ "input_double_register_15_", double() },
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{ "input_double_register_16_", double() },
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{ "input_double_register_17_", double() },
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{ "input_double_register_18_", double() },
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{ "input_double_register_19_", double() },
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{ "input_double_register_20_", double() },
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{ "input_double_register_21_", double() },
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{ "input_double_register_22_", double() },
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{ "input_double_register_23_", double() }
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{ "speed_scaling", double() },
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{ "target_speed_fraction", double() },
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{ "actual_momentum", double() },
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{ "actial_main_voltage", double() },
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{ "actual_robot_voltage", double() },
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{ "actual_robot_current", double() },
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{ "actual_joint_voltage", vector6d_t() },
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{ "actual_digital_output_bits", uint64_t() },
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{ "runtime_state", uint32_t() },
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{ "elbow_position", vector3d_t() },
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{ "elbow_velocity", vector3d_t() },
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{ "robot_status_bits", uint32_t() },
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{ "safety_status_bits", uint32_t() },
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{ "analog_io_types", uint32_t() },
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{ "standard_analog_input0", double() },
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{ "standard_analog_input1", double() },
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{ "standard_analog_output0", double() },
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{ "standard_analog_output1", double() },
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{ "io_current", double() },
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{ "euromap67_input_bits", uint32_t() },
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{ "euromap67_output_bits", uint32_t() },
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{ "euromap67_24V_voltage", double() },
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{ "euromap67_24V_current", double() },
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{ "tool_mode", uint32_t() },
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{ "tool_analog_input_types", uint32_t() },
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{ "tool_analog_input0", double() },
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{ "tool_analog_input1", double() },
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{ "tool_output_voltage", int32_t() },
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{ "tool_output_current", double() },
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{ "tool_temperature", double() },
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{ "tool_force_scalar", double() },
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{ "output_bit_registers0_to_31", uint32_t() },
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{ "output_bit_registers32_to_63", uint32_t() },
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{ "output_int_register_0", int32_t() },
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{ "output_int_register_1", int32_t() },
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{ "output_int_register_2", int32_t() },
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{ "output_int_register_3", int32_t() },
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{ "output_int_register_4", int32_t() },
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{ "output_int_register_5", int32_t() },
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{ "output_int_register_6", int32_t() },
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{ "output_int_register_7", int32_t() },
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{ "output_int_register_8", int32_t() },
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{ "output_int_register_9", int32_t() },
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{ "output_int_register_10", int32_t() },
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{ "output_int_register_11", int32_t() },
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{ "output_int_register_12", int32_t() },
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{ "output_int_register_13", int32_t() },
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{ "output_int_register_14", int32_t() },
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{ "output_int_register_15", int32_t() },
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{ "output_int_register_16", int32_t() },
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{ "output_int_register_17", int32_t() },
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{ "output_int_register_18", int32_t() },
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{ "output_int_register_19", int32_t() },
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{ "output_int_register_20", int32_t() },
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{ "output_int_register_21", int32_t() },
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{ "output_int_register_22", int32_t() },
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{ "output_int_register_23", int32_t() },
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{ "output_double_register_0", double() },
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{ "output_double_register_1", double() },
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{ "output_double_register_2", double() },
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{ "output_double_register_3", double() },
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{ "output_double_register_4", double() },
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{ "output_double_register_5", double() },
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{ "output_double_register_6", double() },
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{ "output_double_register_7", double() },
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{ "output_double_register_8", double() },
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{ "output_double_register_9", double() },
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{ "output_double_register_10", double() },
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{ "output_double_register_11", double() },
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{ "output_double_register_12", double() },
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{ "output_double_register_13", double() },
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{ "output_double_register_14", double() },
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{ "output_double_register_15", double() },
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{ "output_double_register_16", double() },
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{ "output_double_register_17", double() },
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{ "output_double_register_18", double() },
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{ "output_double_register_19", double() },
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{ "output_double_register_20", double() },
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{ "output_double_register_21", double() },
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{ "output_double_register_22", double() },
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{ "output_double_register_23", double() },
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{ "input_bit_registers0_to_31", uint32_t() },
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{ "input_bit_registers32_to_63", uint32_t() },
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{ "input_int_register_0", int32_t() },
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{ "input_int_register_1", int32_t() },
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{ "input_int_register_2", int32_t() },
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{ "input_int_register_3", int32_t() },
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{ "input_int_register_4", int32_t() },
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{ "input_int_register_5", int32_t() },
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{ "input_int_register_6", int32_t() },
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{ "input_int_register_7", int32_t() },
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{ "input_int_register_8", int32_t() },
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{ "input_int_register_9", int32_t() },
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{ "input_int_register_10", int32_t() },
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{ "input_int_register_11", int32_t() },
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{ "input_int_register_12", int32_t() },
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{ "input_int_register_13", int32_t() },
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{ "input_int_register_14", int32_t() },
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{ "input_int_register_15", int32_t() },
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{ "input_int_register_16", int32_t() },
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{ "input_int_register_17", int32_t() },
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{ "input_int_register_18", int32_t() },
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{ "input_int_register_19", int32_t() },
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{ "input_int_register_20", int32_t() },
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{ "input_int_register_21", int32_t() },
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{ "input_int_register_22", int32_t() },
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{ "input_int_register_23", int32_t() },
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{ "input_double_register_0", double() },
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{ "input_double_register_1", double() },
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{ "input_double_register_2", double() },
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{ "input_double_register_3", double() },
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{ "input_double_register_4", double() },
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{ "input_double_register_5", double() },
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{ "input_double_register_6", double() },
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{ "input_double_register_7", double() },
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{ "input_double_register_8", double() },
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{ "input_double_register_9", double() },
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{ "input_double_register_10", double() },
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{ "input_double_register_11", double() },
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{ "input_double_register_12", double() },
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{ "input_double_register_13", double() },
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{ "input_double_register_14", double() },
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{ "input_double_register_15", double() },
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{ "input_double_register_16", double() },
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{ "input_double_register_17", double() },
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{ "input_double_register_18", double() },
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{ "input_double_register_19", double() },
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{ "input_double_register_20", double() },
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{ "input_double_register_21", double() },
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{ "input_double_register_22", double() },
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{ "input_double_register_23", double() }
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};
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bool rtde_interface::DataPackage ::parseWith(comm::BinParser& bp)
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{
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bp.parse(recipe_id_);
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for (auto& item : recipe_)
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{
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if (type_list_.find(item) != type_list_.end())
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@@ -210,13 +211,10 @@ bool rtde_interface::DataPackage ::parseWith(comm::BinParser& bp)
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std::string rtde_interface::DataPackage::toString() const
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{
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std::stringstream ss;
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vector3d_t vec1;
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vector6uint32_t vec2;
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ss << vec1 << vec2;
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for (auto& item : data_)
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{
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ss << item.first << ": ";
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ss << boost::apply_visitor(StringVisitor{}, item.second);
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ss << boost::apply_visitor(StringVisitor{}, item.second) << std::endl;
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}
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return ss.str();
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}
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