From da53c3b45c944a419684b8c52f8e00d8fe53b83a Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Mon, 22 Jul 2019 17:00:59 +0200 Subject: [PATCH] Put package information in base package --- ur_rtde_driver/include/ur_rtde_driver/comm/package.h | 2 -- .../include/ur_rtde_driver/primary/package_header.h | 5 +---- .../ur_rtde_driver/rtde/control_package_pause.h | 8 ++++++-- .../ur_rtde_driver/rtde/control_package_setup_inputs.h | 8 ++++++-- .../rtde/control_package_setup_outputs.h | 8 ++++++-- .../ur_rtde_driver/rtde/control_package_start.h | 9 ++++++--- .../include/ur_rtde_driver/rtde/data_package.h | 2 +- .../ur_rtde_driver/rtde/get_urcontrol_version.h | 9 ++++++--- .../include/ur_rtde_driver/rtde/package_header.h | 7 ------- .../ur_rtde_driver/rtde/request_protocol_version.h | 10 +++++++--- .../include/ur_rtde_driver/rtde/rtde_package.h | 2 +- .../include/ur_rtde_driver/rtde/text_message.h | 4 +++- ur_rtde_driver/src/rtde/control_package_start.cpp | 2 +- ur_rtde_driver/src/rtde/get_urcontrol_version.cpp | 2 +- ur_rtde_driver/src/rtde/request_protocol_version.cpp | 2 +- 15 files changed, 46 insertions(+), 34 deletions(-) diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/package.h b/ur_rtde_driver/include/ur_rtde_driver/comm/package.h index f61f8c7..4e2aebf 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/comm/package.h +++ b/ur_rtde_driver/include/ur_rtde_driver/comm/package.h @@ -49,8 +49,6 @@ public: URPackage() = default; virtual ~URPackage() = default; - using _header_type = HeaderT; - virtual bool parseWith(BinParser& bp) = 0; virtual std::string toString() const = 0; diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h b/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h index 00cc4b5..fa25fad 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h +++ b/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h @@ -58,14 +58,11 @@ public: virtual ~PackageHeader() = default; using _package_size_type = int32_t; + static size_t getPackageLength(uint8_t* buf) { return be32toh(*(reinterpret_cast<_package_size_type*>(buf))); } - -private: - _package_size_type package_size_; - RobotPackageType package_type_; }; } // namespace primary_interface } // namespace ur_driver diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h index 543f424..5c4f13c 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h +++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h @@ -37,7 +37,9 @@ namespace rtde_interface class ControlPackagePause : public RTDEPackage { public: - ControlPackagePause() = default; + ControlPackagePause() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_PAUSE) + { + } virtual ~ControlPackagePause() = default; virtual bool parseWith(comm::BinParser& bp); @@ -49,7 +51,9 @@ public: class ControlPackagePauseRequest : public RTDEPackage { public: - ControlPackagePauseRequest() = default; + ControlPackagePauseRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_PAUSE) + { + } virtual ~ControlPackagePauseRequest() = default; }; diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h index 8599003..d5b4375 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h +++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h @@ -37,7 +37,9 @@ namespace rtde_interface class ControlPackageSetupInputs : public RTDEPackage { public: - ControlPackageSetupInputs() = default; + ControlPackageSetupInputs() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_INPUTS) + { + } virtual ~ControlPackageSetupInputs() = default; virtual bool parseWith(comm::BinParser& bp); @@ -50,7 +52,9 @@ public: class ControlPackageSetupInputsRequest : public RTDEPackage { public: - ControlPackageSetupInputsRequest() = default; + ControlPackageSetupInputsRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_INPUTS) + { + } virtual ~ControlPackageSetupInputsRequest() = default; std::string variable_names_; diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h index c32ba21..3d2fd61 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h +++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h @@ -38,7 +38,9 @@ namespace rtde_interface class ControlPackageSetupOutputs : public RTDEPackage { public: - ControlPackageSetupOutputs() = default; + ControlPackageSetupOutputs() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS) + { + } virtual ~ControlPackageSetupOutputs() = default; virtual bool parseWith(comm::BinParser& bp); @@ -51,7 +53,9 @@ public: class ControlPackageSetupOutputsRequest : public RTDEPackage { public: - ControlPackageSetupOutputsRequest() = default; + ControlPackageSetupOutputsRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS) + { + } virtual ~ControlPackageSetupOutputsRequest() = default; static size_t generateSerializedRequest(uint8_t* buffer, double output_frequency, diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h index 7eba3ab..8db2c74 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h +++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h @@ -37,7 +37,9 @@ namespace rtde_interface class ControlPackageStart : public RTDEPackage { public: - ControlPackageStart() = default; + ControlPackageStart() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_START) + { + } virtual ~ControlPackageStart() = default; virtual bool parseWith(comm::BinParser& bp); @@ -49,14 +51,15 @@ public: class ControlPackageStartRequest : public RTDEPackage { public: - ControlPackageStartRequest() = default; + ControlPackageStartRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_START) + { + } virtual ~ControlPackageStartRequest() = default; static size_t generateSerializedRequest(uint8_t* buffer); private: static const uint16_t PAYLOAD_SIZE = 0; - static const PackageType PACKAGE_TYPE = PackageType::RTDE_CONTROL_PACKAGE_START; }; } // namespace rtde_interface diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h index fbbe8e0..f0ef839 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h +++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h @@ -74,7 +74,7 @@ public: vector6int32_t, vector6uint32_t, std::string>; DataPackage() = delete; - DataPackage(const std::vector& recipe) : recipe_(recipe) + DataPackage(const std::vector& recipe) : RTDEPackage(PackageType::RTDE_DATA_PACKAGE), recipe_(recipe) { } virtual ~DataPackage() = default; diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h index 17e30d0..3b5f564 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h +++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h @@ -38,7 +38,9 @@ namespace rtde_interface class GetUrcontrolVersion : public RTDEPackage { public: - GetUrcontrolVersion() = default; + GetUrcontrolVersion() : RTDEPackage(PackageType::RTDE_GET_URCONTROL_VERSION) + { + } virtual ~GetUrcontrolVersion() = default; virtual bool parseWith(comm::BinParser& bp); @@ -55,14 +57,15 @@ public: class GetUrcontrolVersionRequest : public RTDEPackage { public: - GetUrcontrolVersionRequest() = default; + GetUrcontrolVersionRequest() : RTDEPackage(PackageType::RTDE_GET_URCONTROL_VERSION) + { + } virtual ~GetUrcontrolVersionRequest() = default; static size_t generateSerializedRequest(uint8_t* buffer); private: static const uint16_t PAYLOAD_SIZE = 0; - static const PackageType PACKAGE_TYPE = PackageType::RTDE_GET_URCONTROL_VERSION; }; } // namespace rtde_interface diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h index c7003cb..e365381 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h +++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h @@ -57,9 +57,6 @@ public: virtual ~PackageHeader() = default; using _package_size_type = uint16_t; - PackageHeader(PackageType& type) : package_type_(type){}; - PackageHeader(_package_size_type& size, PackageType& type) : package_size_(size), package_type_(type){}; - static size_t getPackageLength(uint8_t* buf) { return be16toh(*(reinterpret_cast<_package_size_type*>(buf))); @@ -73,10 +70,6 @@ public: comm::PackageSerializer::serialize(buffer + sizeof(size), package_type); return header_size; } - -private: - _package_size_type package_size_; - PackageType package_type_; }; } // namespace rtde_interface diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h index bef297e..3082d3c 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h +++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h @@ -38,7 +38,9 @@ namespace rtde_interface class RequestProtocolVersion : public RTDEPackage { public: - RequestProtocolVersion() = default; + RequestProtocolVersion() : RTDEPackage(PackageType::RTDE_REQUEST_PROTOCOL_VERSION) + { + } virtual ~RequestProtocolVersion() = default; virtual bool parseWith(comm::BinParser& bp); @@ -50,7 +52,10 @@ public: class RequestProtocolVersionRequest : public RTDEPackage { public: - RequestProtocolVersionRequest() = default; + RequestProtocolVersionRequest() : RTDEPackage(PackageType::RTDE_REQUEST_PROTOCOL_VERSION) + { + } + virtual ~RequestProtocolVersionRequest() = default; static size_t generateSerializedRequest(uint8_t* buffer, uint16_t version); @@ -59,7 +64,6 @@ public: private: static const uint16_t PAYLOAD_SIZE = sizeof(uint16_t); - static const PackageType PACKAGE_TYPE = PackageType::RTDE_REQUEST_PROTOCOL_VERSION; }; } // namespace rtde_interface diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h index b294a57..a921e96 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h +++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h @@ -45,7 +45,7 @@ public: /*! * \brief Creates a new RTDEPackage object. */ - RTDEPackage() = default; + RTDEPackage() = delete; RTDEPackage(const PackageType type) : type_(type) { } diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h index b57d847..9daf783 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h +++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h @@ -37,7 +37,9 @@ namespace rtde_interface class TextMessage : public RTDEPackage { public: - TextMessage() = default; + TextMessage() : RTDEPackage(PackageType::RTDE_TEXT_MESSAGE) + { + } virtual ~TextMessage() = default; virtual bool parseWith(comm::BinParser& bp); diff --git a/ur_rtde_driver/src/rtde/control_package_start.cpp b/ur_rtde_driver/src/rtde/control_package_start.cpp index f80cd85..8dc9dc7 100644 --- a/ur_rtde_driver/src/rtde/control_package_start.cpp +++ b/ur_rtde_driver/src/rtde/control_package_start.cpp @@ -47,7 +47,7 @@ std::string ControlPackageStart::toString() const size_t ControlPackageStartRequest::generateSerializedRequest(uint8_t* buffer) { - return PackageHeader::serializeHeader(buffer, PACKAGE_TYPE, PAYLOAD_SIZE); + return PackageHeader::serializeHeader(buffer, PackageType::RTDE_CONTROL_PACKAGE_START, PAYLOAD_SIZE); } } // namespace rtde_interface } // namespace ur_driver diff --git a/ur_rtde_driver/src/rtde/get_urcontrol_version.cpp b/ur_rtde_driver/src/rtde/get_urcontrol_version.cpp index 5b4dfc7..2a80fe9 100644 --- a/ur_rtde_driver/src/rtde/get_urcontrol_version.cpp +++ b/ur_rtde_driver/src/rtde/get_urcontrol_version.cpp @@ -51,7 +51,7 @@ std::string GetUrcontrolVersion::toString() const size_t GetUrcontrolVersionRequest::generateSerializedRequest(uint8_t* buffer) { - return PackageHeader::serializeHeader(buffer, PACKAGE_TYPE, PAYLOAD_SIZE); + return PackageHeader::serializeHeader(buffer, PackageType::RTDE_GET_URCONTROL_VERSION, PAYLOAD_SIZE); } } // namespace rtde_interface } // namespace ur_driver diff --git a/ur_rtde_driver/src/rtde/request_protocol_version.cpp b/ur_rtde_driver/src/rtde/request_protocol_version.cpp index 2d6c41a..e947390 100644 --- a/ur_rtde_driver/src/rtde/request_protocol_version.cpp +++ b/ur_rtde_driver/src/rtde/request_protocol_version.cpp @@ -47,7 +47,7 @@ std::string RequestProtocolVersion::toString() const size_t RequestProtocolVersionRequest::generateSerializedRequest(uint8_t* buffer, uint16_t version) { size_t size = 0; - size += PackageHeader::serializeHeader(buffer, PACKAGE_TYPE, PAYLOAD_SIZE); + size += PackageHeader::serializeHeader(buffer, PackageType::RTDE_REQUEST_PROTOCOL_VERSION, PAYLOAD_SIZE); size += comm::PackageSerializer::serialize(buffer + size, version);