mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 10:00:48 +02:00
removed legacy datatypes
This commit is contained in:
Felix Mauch
committed by
Tristan Schnell
Tristan Schnell
parent
e250128d7e
commit
c640badfb4
@@ -81,7 +81,6 @@ add_library(ur_rtde_driver
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#src/ur/master_board.cpp
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#src/ur/messages.cpp
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#src/ur/robot_mode.cpp
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#src/ur/rt_state.cpp
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src/primary/primary_package.cpp
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src/primary/robot_message.cpp
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src/primary/robot_message/version_message.cpp
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@@ -126,14 +126,6 @@ public:
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val = inner != 0;
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}
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// Explicit parsing order of fields to avoid issues with struct layout
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void parse(double3_t& val)
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{
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parse(val.x);
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parse(val.y);
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parse(val.z);
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}
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void parse(vector3d_t& val)
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{
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for (size_t i = 0; i < val.size(); ++i)
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@@ -166,13 +158,6 @@ public:
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}
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}
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// Explicit parsing order of fields to avoid issues with struct layout
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void parse(cartesian_coord_t& val)
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{
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parse(val.position);
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parse(val.rotation);
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}
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void rawData(std::unique_ptr<uint8_t>& buffer, size_t& buffer_length)
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{
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buffer_length = buf_end_ - buf_pos_;
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@@ -24,33 +24,11 @@
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namespace ur_driver
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{
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// TODO:Replace
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struct double3_t
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{
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double x, y, z;
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};
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using vector3d_t = std::array<double, 3>;
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using vector6d_t = std::array<double, 6>;
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using vector6int32_t = std::array<int32_t, 6>;
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using vector6uint32_t = std::array<uint32_t, 6>;
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struct cartesian_coord_t
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{
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double3_t position;
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double3_t rotation;
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};
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inline bool operator==(const double3_t& lhs, const double3_t& rhs)
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{
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return lhs.x == rhs.x && lhs.y == rhs.y && lhs.z == rhs.z;
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}
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inline bool operator==(const cartesian_coord_t& lhs, const cartesian_coord_t& rhs)
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{
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return lhs.position == rhs.position && lhs.rotation == rhs.rotation;
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}
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template <class T, std::size_t N>
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std::ostream& operator<<(std::ostream& out, const std::array<T, N>& item)
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{
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@@ -1,140 +0,0 @@
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/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Copyright 2015, 2016 Thomas Timm Andersen (original version)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#pragma once
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#include <inttypes.h>
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#include <cstddef>
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#include "ur_rtde_driver/comm/bin_parser.h"
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#include "ur_rtde_driver/comm/comm/pipeline.h"
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#include "ur_rtde_driver/types.h"
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namespace ur_driver
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{
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class URRTPacketConsumer;
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class RTPacket
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{
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public:
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virtual bool parseWith(BinParser& bp) = 0;
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virtual bool consumeWith(URRTPacketConsumer& consumer) = 0;
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};
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class RTShared
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{
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protected:
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void parse_shared1(BinParser& bp);
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void parse_shared2(BinParser& bp);
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public:
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double time;
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std::array<double, 6> q_target;
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std::array<double, 6> qd_target;
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std::array<double, 6> qdd_target;
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std::array<double, 6> i_target;
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std::array<double, 6> m_target;
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std::array<double, 6> q_actual;
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std::array<double, 6> qd_actual;
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std::array<double, 6> i_actual;
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// gap here depending on version
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std::array<double, 6> tcp_force;
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// does not contain "_actual" postfix in V1_X but
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// they're the same fields so share anyway
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cartesian_coord_t tool_vector_actual;
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cartesian_coord_t tcp_speed_actual;
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// gap here depending on version
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uint64_t digital_inputs;
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std::array<double, 6> motor_temperatures;
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double controller_time;
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double robot_mode;
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static const size_t SIZE =
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sizeof(double) * 3 + sizeof(double[6]) * 10 + sizeof(cartesian_coord_t) * 2 + sizeof(uint64_t);
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};
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class RTState_V1_6__7 : public RTShared, public RTPacket
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{
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public:
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bool parseWith(BinParser& bp);
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virtual bool consumeWith(URRTPacketConsumer& consumer);
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double3_t tool_accelerometer_values;
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static const size_t SIZE = RTShared::SIZE + sizeof(double3_t);
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static_assert(RTState_V1_6__7::SIZE == 632, "RTState_V1_6__7 has mismatched size!");
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};
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class RTState_V1_8 : public RTState_V1_6__7
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{
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public:
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bool parseWith(BinParser& bp);
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virtual bool consumeWith(URRTPacketConsumer& consumer);
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std::array<double, 6> joint_modes;
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static const size_t SIZE = RTState_V1_6__7::SIZE + sizeof(double[6]);
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static_assert(RTState_V1_8::SIZE == 680, "RTState_V1_8 has mismatched size!");
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};
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class RTState_V3_0__1 : public RTShared, public RTPacket
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{
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public:
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bool parseWith(BinParser& bp);
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virtual bool consumeWith(URRTPacketConsumer& consumer);
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std::array<double, 6> i_control;
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cartesian_coord_t tool_vector_target;
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cartesian_coord_t tcp_speed_target;
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std::array<double, 6> joint_modes;
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double safety_mode;
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double3_t tool_accelerometer_values;
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double speed_scaling;
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double linear_momentum_norm;
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double v_main;
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double v_robot;
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double i_robot;
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std::array<double, 6> v_actual;
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static const size_t SIZE =
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RTShared::SIZE + sizeof(double[6]) * 3 + sizeof(double3_t) + sizeof(cartesian_coord_t) * 2 + sizeof(double) * 6;
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static_assert(RTState_V3_0__1::SIZE == 920, "RTState_V3_0__1 has mismatched size!");
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};
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class RTState_V3_2__3 : public RTState_V3_0__1
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{
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public:
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bool parseWith(BinParser& bp);
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virtual bool consumeWith(URRTPacketConsumer& consumer);
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uint64_t digital_outputs;
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double program_state;
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static const size_t SIZE = RTState_V3_0__1::SIZE + sizeof(uint64_t) + sizeof(double);
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static_assert(RTState_V3_2__3::SIZE == 936, "RTState_V3_2__3 has mismatched size!");
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};
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} // namespace ur_driver
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@@ -1,138 +0,0 @@
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/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Copyright 2015, 2016 Thomas Timm Andersen (original version)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "ur_rtde_driver/ur/rt_state.h"
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#include "ur_rtde_driver/ur/consumer.h"
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namespace ur_driver
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{
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void RTShared::parse_shared1(BinParser& bp)
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{
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bp.parse(time);
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bp.parse(q_target);
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bp.parse(qd_target);
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bp.parse(qdd_target);
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bp.parse(i_target);
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bp.parse(m_target);
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bp.parse(q_actual);
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bp.parse(qd_actual);
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bp.parse(i_actual);
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}
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void RTShared::parse_shared2(BinParser& bp)
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{
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bp.parse(digital_inputs);
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bp.parse(motor_temperatures);
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bp.parse(controller_time);
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bp.consume(sizeof(double)); // Unused "Test value" field
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bp.parse(robot_mode);
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}
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bool RTState_V1_6__7::parseWith(BinParser& bp)
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{
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if (!bp.checkSize<RTState_V1_6__7>())
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return false;
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parse_shared1(bp);
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bp.parse(tool_accelerometer_values);
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bp.consume(sizeof(double) * 15);
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bp.parse(tcp_force);
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bp.parse(tool_vector_actual);
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bp.parse(tcp_speed_actual);
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parse_shared2(bp);
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return true;
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}
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bool RTState_V1_8::parseWith(BinParser& bp)
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{
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if (!bp.checkSize<RTState_V1_8>())
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return false;
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RTState_V1_6__7::parseWith(bp);
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bp.parse(joint_modes);
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return true;
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}
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bool RTState_V3_0__1::parseWith(BinParser& bp)
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{
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if (!bp.checkSize<RTState_V3_0__1>())
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return false;
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parse_shared1(bp);
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bp.parse(i_control);
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bp.parse(tool_vector_actual);
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bp.parse(tcp_speed_actual);
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bp.parse(tcp_force);
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bp.parse(tool_vector_target);
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bp.parse(tcp_speed_target);
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parse_shared2(bp);
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bp.parse(joint_modes);
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bp.parse(safety_mode);
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bp.consume(sizeof(double[6])); // skip undocumented
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bp.parse(tool_accelerometer_values);
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bp.consume(sizeof(double[6])); // skip undocumented
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bp.parse(speed_scaling);
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bp.parse(linear_momentum_norm);
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bp.consume(sizeof(double)); // skip undocumented
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bp.consume(sizeof(double)); // skip undocumented
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bp.parse(v_main);
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bp.parse(v_robot);
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bp.parse(i_robot);
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bp.parse(v_actual);
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return true;
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}
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bool RTState_V3_2__3::parseWith(BinParser& bp)
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{
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if (!bp.checkSize<RTState_V3_2__3>())
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return false;
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RTState_V3_0__1::parseWith(bp);
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bp.parse(digital_outputs);
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bp.parse(program_state);
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return true;
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}
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bool RTState_V1_6__7::consumeWith(URRTPacketConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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bool RTState_V1_8::consumeWith(URRTPacketConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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bool RTState_V3_0__1::consumeWith(URRTPacketConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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bool RTState_V3_2__3::consumeWith(URRTPacketConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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} // namespace ur_driver
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@@ -1,210 +0,0 @@
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/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "ur_rtde_driver/comm/ur/rt_state.h"
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#include <gtest/gtest.h>
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#include "ur_rtde_driver/comm/bin_parser.h"
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#include "ur_rtde_driver/log.h"
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#include "ur_rtde_driver/comm/test/random_data.h"
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#include "ur_rtde_driver/comm/test/utils.h"
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#include "ur_rtde_driver/comm/types.h"
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using namespace ur_driver;
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TEST(RTState_V1_6__7, testRandomDataParsing)
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{
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RandomDataTest rdt(764);
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BinParser bp = rdt.getParser(true);
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RTState_V1_6__7 state;
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EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ(rdt.getNext<double>(), state.time);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
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ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
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rdt.skip(sizeof(double) * 15);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
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ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
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ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
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rdt.skip(sizeof(double)); // skip unused value
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ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
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EXPECT_TRUE(bp.empty()) << "Did not consume all data";
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}
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TEST(RTState_V1_8, testRandomDataParsing)
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{
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RandomDataTest rdt(812);
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BinParser bp = rdt.getParser(true);
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RTState_V1_8 state;
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EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ(rdt.getNext<double>(), state.time);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
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ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
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rdt.skip(sizeof(double) * 15);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
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ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
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ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
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rdt.skip(sizeof(double)); // skip unused value
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ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.joint_modes);
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EXPECT_TRUE(bp.empty()) << "Did not consume all data";
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}
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TEST(RTState_V3_0__1, testRandomDataParsing)
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{
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RandomDataTest rdt(1044);
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BinParser bp = rdt.getParser(true);
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RTState_V3_0__1 state;
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EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ(rdt.getNext<double>(), state.time);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
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||||
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";
|
||||
}
|
||||
Reference in New Issue
Block a user