Obbart/universal_robots_ros_driver
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removed legacy datatypes

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This commit is contained in:
Felix Mauch
2019-06-06 11:09:19 +02:00
committed by Tristan Schnell
parent e250128d7e
commit c640badfb4
6 changed files with 0 additions and 526 deletions
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1
ur_rtde_driver/CMakeLists.txt
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@@ -81,7 +81,6 @@ add_library(ur_rtde_driver
#src/ur/master_board.cpp #src/ur/master_board.cpp
#src/ur/messages.cpp #src/ur/messages.cpp
#src/ur/robot_mode.cpp #src/ur/robot_mode.cpp
#src/ur/rt_state.cpp
src/primary/primary_package.cpp src/primary/primary_package.cpp
src/primary/robot_message.cpp src/primary/robot_message.cpp
src/primary/robot_message/version_message.cpp src/primary/robot_message/version_message.cpp

15
ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h
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@@ -126,14 +126,6 @@ public:
val = inner != 0; val = inner != 0;
} }
// Explicit parsing order of fields to avoid issues with struct layout
void parse(double3_t& val)
{
parse(val.x);
parse(val.y);
parse(val.z);
}
void parse(vector3d_t& val) void parse(vector3d_t& val)
{ {
for (size_t i = 0; i < val.size(); ++i) for (size_t i = 0; i < val.size(); ++i)
@@ -166,13 +158,6 @@ public:
} }
} }
// Explicit parsing order of fields to avoid issues with struct layout
void parse(cartesian_coord_t& val)
{
parse(val.position);
parse(val.rotation);
}
void rawData(std::unique_ptr<uint8_t>& buffer, size_t& buffer_length) void rawData(std::unique_ptr<uint8_t>& buffer, size_t& buffer_length)
{ {
buffer_length = buf_end_ - buf_pos_; buffer_length = buf_end_ - buf_pos_;

22
ur_rtde_driver/include/ur_rtde_driver/types.h
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@@ -24,33 +24,11 @@
namespace ur_driver namespace ur_driver
{ {
// TODO:Replace
struct double3_t
{
double x, y, z;
};
using vector3d_t = std::array<double, 3>; using vector3d_t = std::array<double, 3>;
using vector6d_t = std::array<double, 6>; using vector6d_t = std::array<double, 6>;
using vector6int32_t = std::array<int32_t, 6>; using vector6int32_t = std::array<int32_t, 6>;
using vector6uint32_t = std::array<uint32_t, 6>; using vector6uint32_t = std::array<uint32_t, 6>;
struct cartesian_coord_t
{
double3_t position;
double3_t rotation;
};
inline bool operator==(const double3_t& lhs, const double3_t& rhs)
{
return lhs.x == rhs.x && lhs.y == rhs.y && lhs.z == rhs.z;
}
inline bool operator==(const cartesian_coord_t& lhs, const cartesian_coord_t& rhs)
{
return lhs.position == rhs.position && lhs.rotation == rhs.rotation;
}
template <class T, std::size_t N> template <class T, std::size_t N>
std::ostream& operator<<(std::ostream& out, const std::array<T, N>& item) std::ostream& operator<<(std::ostream& out, const std::array<T, N>& item)
{ {

140
ur_rtde_driver/include/ur_rtde_driver/ur/rt_state.h
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@@ -1,140 +0,0 @@
/*
* Copyright 2017, 2018 Simon Rasmussen (refactor)
*
* Copyright 2015, 2016 Thomas Timm Andersen (original version)
*
* 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.
*/
#pragma once
#include <inttypes.h>
#include <cstddef>
#include "ur_rtde_driver/comm/bin_parser.h"
#include "ur_rtde_driver/comm/comm/pipeline.h"
#include "ur_rtde_driver/types.h"
namespace ur_driver
{
class URRTPacketConsumer;
class RTPacket
{
public:
virtual bool parseWith(BinParser& bp) = 0;
virtual bool consumeWith(URRTPacketConsumer& consumer) = 0;
};
class RTShared
{
protected:
void parse_shared1(BinParser& bp);
void parse_shared2(BinParser& bp);
public:
double time;
std::array<double, 6> q_target;
std::array<double, 6> qd_target;
std::array<double, 6> qdd_target;
std::array<double, 6> i_target;
std::array<double, 6> m_target;
std::array<double, 6> q_actual;
std::array<double, 6> qd_actual;
std::array<double, 6> i_actual;
// gap here depending on version
std::array<double, 6> tcp_force;
// does not contain "_actual" postfix in V1_X but
// they're the same fields so share anyway
cartesian_coord_t tool_vector_actual;
cartesian_coord_t tcp_speed_actual;
// gap here depending on version
uint64_t digital_inputs;
std::array<double, 6> motor_temperatures;
double controller_time;
double robot_mode;
static const size_t SIZE =
sizeof(double) * 3 + sizeof(double[6]) * 10 + sizeof(cartesian_coord_t) * 2 + sizeof(uint64_t);
};
class RTState_V1_6__7 : public RTShared, public RTPacket
{
public:
bool parseWith(BinParser& bp);
virtual bool consumeWith(URRTPacketConsumer& consumer);
double3_t tool_accelerometer_values;
static const size_t SIZE = RTShared::SIZE + sizeof(double3_t);
static_assert(RTState_V1_6__7::SIZE == 632, "RTState_V1_6__7 has mismatched size!");
};
class RTState_V1_8 : public RTState_V1_6__7
{
public:
bool parseWith(BinParser& bp);
virtual bool consumeWith(URRTPacketConsumer& consumer);
std::array<double, 6> joint_modes;
static const size_t SIZE = RTState_V1_6__7::SIZE + sizeof(double[6]);
static_assert(RTState_V1_8::SIZE == 680, "RTState_V1_8 has mismatched size!");
};
class RTState_V3_0__1 : public RTShared, public RTPacket
{
public:
bool parseWith(BinParser& bp);
virtual bool consumeWith(URRTPacketConsumer& consumer);
std::array<double, 6> i_control;
cartesian_coord_t tool_vector_target;
cartesian_coord_t tcp_speed_target;
std::array<double, 6> joint_modes;
double safety_mode;
double3_t tool_accelerometer_values;
double speed_scaling;
double linear_momentum_norm;
double v_main;
double v_robot;
double i_robot;
std::array<double, 6> v_actual;
static const size_t SIZE =
RTShared::SIZE + sizeof(double[6]) * 3 + sizeof(double3_t) + sizeof(cartesian_coord_t) * 2 + sizeof(double) * 6;
static_assert(RTState_V3_0__1::SIZE == 920, "RTState_V3_0__1 has mismatched size!");
};
class RTState_V3_2__3 : public RTState_V3_0__1
{
public:
bool parseWith(BinParser& bp);
virtual bool consumeWith(URRTPacketConsumer& consumer);
uint64_t digital_outputs;
double program_state;
static const size_t SIZE = RTState_V3_0__1::SIZE + sizeof(uint64_t) + sizeof(double);
static_assert(RTState_V3_2__3::SIZE == 936, "RTState_V3_2__3 has mismatched size!");
};
} // namespace ur_driver

138
ur_rtde_driver/src/ur/rt_state.cpp
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@@ -1,138 +0,0 @@
/*
* Copyright 2017, 2018 Simon Rasmussen (refactor)
*
* Copyright 2015, 2016 Thomas Timm Andersen (original version)
*
* 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.
*/
#include "ur_rtde_driver/ur/rt_state.h"
#include "ur_rtde_driver/ur/consumer.h"
namespace ur_driver
{
void RTShared::parse_shared1(BinParser& bp)
{
bp.parse(time);
bp.parse(q_target);
bp.parse(qd_target);
bp.parse(qdd_target);
bp.parse(i_target);
bp.parse(m_target);
bp.parse(q_actual);
bp.parse(qd_actual);
bp.parse(i_actual);
}
void RTShared::parse_shared2(BinParser& bp)
{
bp.parse(digital_inputs);
bp.parse(motor_temperatures);
bp.parse(controller_time);
bp.consume(sizeof(double)); // Unused "Test value" field
bp.parse(robot_mode);
}
bool RTState_V1_6__7::parseWith(BinParser& bp)
{
if (!bp.checkSize<RTState_V1_6__7>())
return false;
parse_shared1(bp);
bp.parse(tool_accelerometer_values);
bp.consume(sizeof(double) * 15);
bp.parse(tcp_force);
bp.parse(tool_vector_actual);
bp.parse(tcp_speed_actual);
parse_shared2(bp);
return true;
}
bool RTState_V1_8::parseWith(BinParser& bp)
{
if (!bp.checkSize<RTState_V1_8>())
return false;
RTState_V1_6__7::parseWith(bp);
bp.parse(joint_modes);
return true;
}
bool RTState_V3_0__1::parseWith(BinParser& bp)
{
if (!bp.checkSize<RTState_V3_0__1>())
return false;
parse_shared1(bp);
bp.parse(i_control);
bp.parse(tool_vector_actual);
bp.parse(tcp_speed_actual);
bp.parse(tcp_force);
bp.parse(tool_vector_target);
bp.parse(tcp_speed_target);
parse_shared2(bp);
bp.parse(joint_modes);
bp.parse(safety_mode);
bp.consume(sizeof(double[6])); // skip undocumented
bp.parse(tool_accelerometer_values);
bp.consume(sizeof(double[6])); // skip undocumented
bp.parse(speed_scaling);
bp.parse(linear_momentum_norm);
bp.consume(sizeof(double)); // skip undocumented
bp.consume(sizeof(double)); // skip undocumented
bp.parse(v_main);
bp.parse(v_robot);
bp.parse(i_robot);
bp.parse(v_actual);
return true;
}
bool RTState_V3_2__3::parseWith(BinParser& bp)
{
if (!bp.checkSize<RTState_V3_2__3>())
return false;
RTState_V3_0__1::parseWith(bp);
bp.parse(digital_outputs);
bp.parse(program_state);
return true;
}
bool RTState_V1_6__7::consumeWith(URRTPacketConsumer& consumer)
{
return consumer.consume(*this);
}
bool RTState_V1_8::consumeWith(URRTPacketConsumer& consumer)
{
return consumer.consume(*this);
}
bool RTState_V3_0__1::consumeWith(URRTPacketConsumer& consumer)
{
return consumer.consume(*this);
}
bool RTState_V3_2__3::consumeWith(URRTPacketConsumer& consumer)
{
return consumer.consume(*this);
}
} // namespace ur_driver

210
ur_rtde_driver/tests/ur/rt_state.cpp
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@@ -1,210 +0,0 @@
/*
* Copyright 2017, 2018 Simon Rasmussen (refactor)
*
* 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.
*/
#include "ur_rtde_driver/comm/ur/rt_state.h"
#include <gtest/gtest.h>
#include "ur_rtde_driver/comm/bin_parser.h"
#include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/comm/test/random_data.h"
#include "ur_rtde_driver/comm/test/utils.h"
#include "ur_rtde_driver/comm/types.h"
using namespace ur_driver;
TEST(RTState_V1_6__7, testRandomDataParsing)
{
RandomDataTest rdt(764);
BinParser bp = rdt.getParser(true);
RTState_V1_6__7 state;
EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
ASSERT_EQ(rdt.getNext<double>(), state.time);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
rdt.skip(sizeof(double) * 15);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
rdt.skip(sizeof(double)); // skip unused value
ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
EXPECT_TRUE(bp.empty()) << "Did not consume all data";
}
TEST(RTState_V1_8, testRandomDataParsing)
{
RandomDataTest rdt(812);
BinParser bp = rdt.getParser(true);
RTState_V1_8 state;
EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
ASSERT_EQ(rdt.getNext<double>(), state.time);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
rdt.skip(sizeof(double) * 15);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
rdt.skip(sizeof(double)); // skip unused value
ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.joint_modes);
EXPECT_TRUE(bp.empty()) << "Did not consume all data";
}
TEST(RTState_V3_0__1, testRandomDataParsing)
{
RandomDataTest rdt(1044);
BinParser bp = rdt.getParser(true);
RTState_V3_0__1 state;
EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
ASSERT_EQ(rdt.getNext<double>(), state.time);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_control);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_target);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_target);
ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
rdt.skip(sizeof(double)); // skip unused value
ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.joint_modes);
ASSERT_EQ(rdt.getNext<double>(), state.safety_mode);
rdt.skip(sizeof(double) * 6);
ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
rdt.skip(sizeof(double) * 6);
ASSERT_EQ(rdt.getNext<double>(), state.speed_scaling);
ASSERT_EQ(rdt.getNext<double>(), state.linear_momentum_norm);
rdt.skip(sizeof(double) * 2);
ASSERT_EQ(rdt.getNext<double>(), state.v_main);
ASSERT_EQ(rdt.getNext<double>(), state.v_robot);
ASSERT_EQ(rdt.getNext<double>(), state.i_robot);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.v_actual);
EXPECT_TRUE(bp.empty()) << "Did not consume all data";
}
TEST(RTState_V3_2__3, testRandomDataParsing)
{
RandomDataTest rdt(1060);
BinParser bp = rdt.getParser(true);
RTState_V3_2__3 state;
EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
ASSERT_EQ(rdt.getNext<double>(), state.time);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_control);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_target);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_target);
ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
rdt.skip(sizeof(double)); // skip unused value
ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.joint_modes);
ASSERT_EQ(rdt.getNext<double>(), state.safety_mode);
rdt.skip(sizeof(double) * 6);
ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
rdt.skip(sizeof(double) * 6);
ASSERT_EQ(rdt.getNext<double>(), state.speed_scaling);
ASSERT_EQ(rdt.getNext<double>(), state.linear_momentum_norm);
rdt.skip(sizeof(double) * 2);
ASSERT_EQ(rdt.getNext<double>(), state.v_main);
ASSERT_EQ(rdt.getNext<double>(), state.v_robot);
ASSERT_EQ(rdt.getNext<double>(), state.i_robot);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.v_actual);
ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_outputs);
ASSERT_EQ(rdt.getNext<double>(), state.program_state);
EXPECT_TRUE(bp.empty()) << "did not consume all data";
}
TEST(RTState_V1_6__7, testTooSmallBuffer)
{
RandomDataTest rdt(10);
BinParser bp = rdt.getParser(true);
RTState_V1_6__7 state;
EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
}
TEST(RTState_V1_8, testTooSmallBuffer)
{
RandomDataTest rdt(10);
BinParser bp = rdt.getParser(true);
RTState_V1_8 state;
EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
}
TEST(RTState_V3_0__1, testTooSmallBuffer)
{
RandomDataTest rdt(10);
BinParser bp = rdt.getParser(true);
RTState_V3_0__1 state;
EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
}
TEST(RTState_V3_2__3, testTooSmallBuffer)
{
RandomDataTest rdt(10);
BinParser bp = rdt.getParser(true);
RTState_V3_2__3 state;
EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
}