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/include/ur_rtde_driver/comm/package.h
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@@ -49,8 +49,6 @@ public:
URPackage() = default; URPackage() = default;
virtual ~URPackage() = default; virtual ~URPackage() = default;
using _header_type = HeaderT;
virtual bool parseWith(BinParser& bp) = 0; virtual bool parseWith(BinParser& bp) = 0;
virtual std::string toString() const = 0; virtual std::string toString() const = 0;

5
ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
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@@ -58,14 +58,11 @@ public:
virtual ~PackageHeader() = default; virtual ~PackageHeader() = default;
using _package_size_type = int32_t; using _package_size_type = int32_t;
static size_t getPackageLength(uint8_t* buf) static size_t getPackageLength(uint8_t* buf)
{ {
return be32toh(*(reinterpret_cast<_package_size_type*>(buf))); return be32toh(*(reinterpret_cast<_package_size_type*>(buf)));
} }
private:
_package_size_type package_size_;
RobotPackageType package_type_;
}; };
} // namespace primary_interface } // namespace primary_interface
} // namespace ur_driver } // namespace ur_driver

8
ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h
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@@ -37,7 +37,9 @@ namespace rtde_interface
class ControlPackagePause : public RTDEPackage class ControlPackagePause : public RTDEPackage
{ {
public: public:
ControlPackagePause() = default; ControlPackagePause() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_PAUSE)
{
}
virtual ~ControlPackagePause() = default; virtual ~ControlPackagePause() = default;
virtual bool parseWith(comm::BinParser& bp); virtual bool parseWith(comm::BinParser& bp);
@@ -49,7 +51,9 @@ public:
class ControlPackagePauseRequest : public RTDEPackage class ControlPackagePauseRequest : public RTDEPackage
{ {
public: public:
ControlPackagePauseRequest() = default; ControlPackagePauseRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_PAUSE)
{
}
virtual ~ControlPackagePauseRequest() = default; virtual ~ControlPackagePauseRequest() = default;
}; };

8
ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h
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@@ -37,7 +37,9 @@ namespace rtde_interface
class ControlPackageSetupInputs : public RTDEPackage class ControlPackageSetupInputs : public RTDEPackage
{ {
public: public:
ControlPackageSetupInputs() = default; ControlPackageSetupInputs() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_INPUTS)
{
}
virtual ~ControlPackageSetupInputs() = default; virtual ~ControlPackageSetupInputs() = default;
virtual bool parseWith(comm::BinParser& bp); virtual bool parseWith(comm::BinParser& bp);
@@ -50,7 +52,9 @@ public:
class ControlPackageSetupInputsRequest : public RTDEPackage class ControlPackageSetupInputsRequest : public RTDEPackage
{ {
public: public:
ControlPackageSetupInputsRequest() = default; ControlPackageSetupInputsRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_INPUTS)
{
}
virtual ~ControlPackageSetupInputsRequest() = default; virtual ~ControlPackageSetupInputsRequest() = default;
std::string variable_names_; std::string variable_names_;

8
ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h
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@@ -38,7 +38,9 @@ namespace rtde_interface
class ControlPackageSetupOutputs : public RTDEPackage class ControlPackageSetupOutputs : public RTDEPackage
{ {
public: public:
ControlPackageSetupOutputs() = default; ControlPackageSetupOutputs() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS)
{
}
virtual ~ControlPackageSetupOutputs() = default; virtual ~ControlPackageSetupOutputs() = default;
virtual bool parseWith(comm::BinParser& bp); virtual bool parseWith(comm::BinParser& bp);
@@ -51,7 +53,9 @@ public:
class ControlPackageSetupOutputsRequest : public RTDEPackage class ControlPackageSetupOutputsRequest : public RTDEPackage
{ {
public: public:
ControlPackageSetupOutputsRequest() = default; ControlPackageSetupOutputsRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS)
{
}
virtual ~ControlPackageSetupOutputsRequest() = default; virtual ~ControlPackageSetupOutputsRequest() = default;
static size_t generateSerializedRequest(uint8_t* buffer, double output_frequency, static size_t generateSerializedRequest(uint8_t* buffer, double output_frequency,

9
ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h
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@@ -37,7 +37,9 @@ namespace rtde_interface
class ControlPackageStart : public RTDEPackage class ControlPackageStart : public RTDEPackage
{ {
public: public:
ControlPackageStart() = default; ControlPackageStart() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_START)
{
}
virtual ~ControlPackageStart() = default; virtual ~ControlPackageStart() = default;
virtual bool parseWith(comm::BinParser& bp); virtual bool parseWith(comm::BinParser& bp);
@@ -49,14 +51,15 @@ public:
class ControlPackageStartRequest : public RTDEPackage class ControlPackageStartRequest : public RTDEPackage
{ {
public: public:
ControlPackageStartRequest() = default; ControlPackageStartRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_START)
{
}
virtual ~ControlPackageStartRequest() = default; virtual ~ControlPackageStartRequest() = default;
static size_t generateSerializedRequest(uint8_t* buffer); static size_t generateSerializedRequest(uint8_t* buffer);
private: private:
static const uint16_t PAYLOAD_SIZE = 0; static const uint16_t PAYLOAD_SIZE = 0;
static const PackageType PACKAGE_TYPE = PackageType::RTDE_CONTROL_PACKAGE_START;
}; };
} // namespace rtde_interface } // namespace rtde_interface

2
ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
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@@ -74,7 +74,7 @@ public:
vector6int32_t, vector6uint32_t, std::string>; vector6int32_t, vector6uint32_t, std::string>;
DataPackage() = delete; DataPackage() = delete;
DataPackage(const std::vector<std::string>& recipe) : recipe_(recipe) DataPackage(const std::vector<std::string>& recipe) : RTDEPackage(PackageType::RTDE_DATA_PACKAGE), recipe_(recipe)
{ {
} }
virtual ~DataPackage() = default; virtual ~DataPackage() = default;

9
ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h
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@@ -38,7 +38,9 @@ namespace rtde_interface
class GetUrcontrolVersion : public RTDEPackage class GetUrcontrolVersion : public RTDEPackage
{ {
public: public:
GetUrcontrolVersion() = default; GetUrcontrolVersion() : RTDEPackage(PackageType::RTDE_GET_URCONTROL_VERSION)
{
}
virtual ~GetUrcontrolVersion() = default; virtual ~GetUrcontrolVersion() = default;
virtual bool parseWith(comm::BinParser& bp); virtual bool parseWith(comm::BinParser& bp);
@@ -55,14 +57,15 @@ public:
class GetUrcontrolVersionRequest : public RTDEPackage class GetUrcontrolVersionRequest : public RTDEPackage
{ {
public: public:
GetUrcontrolVersionRequest() = default; GetUrcontrolVersionRequest() : RTDEPackage(PackageType::RTDE_GET_URCONTROL_VERSION)
{
}
virtual ~GetUrcontrolVersionRequest() = default; virtual ~GetUrcontrolVersionRequest() = default;
static size_t generateSerializedRequest(uint8_t* buffer); static size_t generateSerializedRequest(uint8_t* buffer);
private: private:
static const uint16_t PAYLOAD_SIZE = 0; static const uint16_t PAYLOAD_SIZE = 0;
static const PackageType PACKAGE_TYPE = PackageType::RTDE_GET_URCONTROL_VERSION;
}; };
} // namespace rtde_interface } // namespace rtde_interface

7
ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h
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@@ -57,9 +57,6 @@ public:
virtual ~PackageHeader() = default; virtual ~PackageHeader() = default;
using _package_size_type = uint16_t; 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) static size_t getPackageLength(uint8_t* buf)
{ {
return be16toh(*(reinterpret_cast<_package_size_type*>(buf))); return be16toh(*(reinterpret_cast<_package_size_type*>(buf)));
@@ -73,10 +70,6 @@ public:
comm::PackageSerializer::serialize(buffer + sizeof(size), package_type); comm::PackageSerializer::serialize(buffer + sizeof(size), package_type);
return header_size; return header_size;
} }
private:
_package_size_type package_size_;
PackageType package_type_;
}; };
} // namespace rtde_interface } // namespace rtde_interface

10
ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h
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@@ -38,7 +38,9 @@ namespace rtde_interface
class RequestProtocolVersion : public RTDEPackage class RequestProtocolVersion : public RTDEPackage
{ {
public: public:
RequestProtocolVersion() = default; RequestProtocolVersion() : RTDEPackage(PackageType::RTDE_REQUEST_PROTOCOL_VERSION)
{
}
virtual ~RequestProtocolVersion() = default; virtual ~RequestProtocolVersion() = default;
virtual bool parseWith(comm::BinParser& bp); virtual bool parseWith(comm::BinParser& bp);
@@ -50,7 +52,10 @@ public:
class RequestProtocolVersionRequest : public RTDEPackage class RequestProtocolVersionRequest : public RTDEPackage
{ {
public: public:
RequestProtocolVersionRequest() = default; RequestProtocolVersionRequest() : RTDEPackage(PackageType::RTDE_REQUEST_PROTOCOL_VERSION)
{
}
virtual ~RequestProtocolVersionRequest() = default; virtual ~RequestProtocolVersionRequest() = default;
static size_t generateSerializedRequest(uint8_t* buffer, uint16_t version); static size_t generateSerializedRequest(uint8_t* buffer, uint16_t version);
@@ -59,7 +64,6 @@ public:
private: private:
static const uint16_t PAYLOAD_SIZE = sizeof(uint16_t); static const uint16_t PAYLOAD_SIZE = sizeof(uint16_t);
static const PackageType PACKAGE_TYPE = PackageType::RTDE_REQUEST_PROTOCOL_VERSION;
}; };
} // namespace rtde_interface } // namespace rtde_interface

2
ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h
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@@ -45,7 +45,7 @@ public:
/*! /*!
* \brief Creates a new RTDEPackage object. * \brief Creates a new RTDEPackage object.
*/ */
RTDEPackage() = default; RTDEPackage() = delete;
RTDEPackage(const PackageType type) : type_(type) RTDEPackage(const PackageType type) : type_(type)
{ {
} }

4
ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h
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@@ -37,7 +37,9 @@ namespace rtde_interface
class TextMessage : public RTDEPackage class TextMessage : public RTDEPackage
{ {
public: public:
TextMessage() = default; TextMessage() : RTDEPackage(PackageType::RTDE_TEXT_MESSAGE)
{
}
virtual ~TextMessage() = default; virtual ~TextMessage() = default;
virtual bool parseWith(comm::BinParser& bp); virtual bool parseWith(comm::BinParser& bp);

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) 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 rtde_interface
} // namespace ur_driver } // 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) 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 rtde_interface
} // namespace ur_driver } // 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 RequestProtocolVersionRequest::generateSerializedRequest(uint8_t* buffer, uint16_t version)
{ {
size_t size = 0; 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); size += comm::PackageSerializer::serialize(buffer + size, version);