introduced VersionInformation

Use this as a data container to store version information in.

ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h

@@ -29,6 +29,7 @@
 #define UR_RTDE_DRIVER_GET_URCONTROL_VERSION_H_INCLUDED
 
 #include "ur_rtde_driver/rtde/rtde_package.h"
+#include "ur_rtde_driver/ur/version_information.h"
 
 namespace ur_driver
 {
@@ -43,6 +44,8 @@ public:
   virtual bool parseWith(comm::BinParser& bp);
   virtual std::string toString() const;
 
+  VersionInformation version_information_;
+
   uint32_t major_;
   uint32_t minor_;
   uint32_t bugfix_;

ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h

@@ -62,6 +62,11 @@ public:
     return max_frequency_;
   }
 
+  VersionInformation getVersion()
+  {
+    return urcontrol_version_;
+  }
+
 private:
   comm::URStream<PackageHeader> stream_;
   std::vector<std::string> recipe_;
@@ -69,6 +74,8 @@ private:
   comm::URProducer<PackageHeader> prod_;
   comm::Pipeline<PackageHeader> pipeline_;
 
+  VersionInformation urcontrol_version_;
+
   double max_frequency_;
 
   constexpr static const double CB3_MAX_FREQUENCY = 125.0;

ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h

@@ -31,6 +31,7 @@
 #include "ur_rtde_driver/comm/reverse_interface.h"
 #include "ur_rtde_driver/comm/script_sender.h"
 #include "ur_rtde_driver/ur/tool_communication.h"
+#include "ur_rtde_driver/primary/robot_message/version_message.h"
 
 namespace ur_driver
 {

ur_rtde_driver/include/ur_rtde_driver/ur/version_information.h

@@ -0,0 +1,36 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2019-06-11
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_UR_VERSION_INFORMATION_H_INCLUDED
+#define UR_RTDE_DRIVER_UR_VERSION_INFORMATION_H_INCLUDED
+
+namespace ur_driver
+{
+struct VersionInformation
+{
+  VersionInformation()
+  {
+    major = 0;
+    minor = 0;
+    bugfix = 0;
+    build = 0;
+  }
+  uint32_t major;
+  uint32_t minor;
+  uint32_t bugfix;
+  uint32_t build;
+};
+}  // namespace ur_driver
+
+#endif  // ifndef UR_RTDE_DRIVER_UR_VERSION_INFORMATION_H_INCLUDED

ur_rtde_driver/src/rtde/get_urcontrol_version.cpp

@@ -33,10 +33,10 @@ namespace rtde_interface
 {
 bool GetUrcontrolVersion::parseWith(comm::BinParser& bp)
 {
-  bp.parse(major_);
+  bp.parse(version_information_.major);
-  bp.parse(minor_);
+  bp.parse(version_information_.minor);
-  bp.parse(bugfix_);
+  bp.parse(version_information_.bugfix);
-  bp.parse(build_);
+  bp.parse(version_information_.build);
 
   return true;
 }

ur_rtde_driver/src/rtde/rtde_client.cpp

@@ -26,6 +26,7 @@
 //----------------------------------------------------------------------
 
 #include "ur_rtde_driver/rtde/rtde_client.h"
+#include "ur_rtde_driver/exceptions.h"
 
 namespace ur_driver
 {
@@ -73,9 +74,15 @@ bool RTDEClient::init()
   size = GetUrcontrolVersionRequest::generateSerializedRequest(buffer);
   stream_.write(buffer, size, written);
   pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000));
-  rtde_interface::GetUrcontrolVersion* tmp_control_version =
+  rtde_interface::GetUrcontrolVersion* tmp_urcontrol_version =
       dynamic_cast<rtde_interface::GetUrcontrolVersion*>(package.get());
-  if (tmp_control_version->major_ < 5)
+
+  if (tmp_urcontrol_version == nullptr)
+  {
+    throw UrException("Could not get urcontrol version from robot. This should not happen!");
+  }
+  urcontrol_version_ = tmp_urcontrol_version->version_information_;
+  if (urcontrol_version_.major < 5)
   {
     max_frequency_ = CB3_MAX_FREQUENCY;
   }