Obbart/universal_robots_ros_driver
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Put package information in base package

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This commit is contained in:
Felix Mauch
2019-07-22 17:00:59 +02:00
committed by Tristan Schnell
parent 2e71c18f70
commit da53c3b45c
15 changed files with 46 additions and 34 deletions
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2
ur_rtde_driver/src/rtde/control_package_start.cpp
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@@ -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

2
ur_rtde_driver/src/rtde/get_urcontrol_version.cpp
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@@ -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

2
ur_rtde_driver/src/rtde/request_protocol_version.cpp
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@@ -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);