Obbart/universal_robots_ros_driver
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updated names to PackageHeader

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This commit is contained in:
Lea Steffen
2019-04-08 13:57:04 +02:00
committed by Felix Mauch
parent 1c205556a1
commit ed11fb8a1c
6 changed files with 38 additions and 38 deletions
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35
include/ur_rtde_driver/primary/primary_header.h → include/ur_rtde_driver/primary/package_header.h
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@@ -38,7 +38,7 @@ namespace ur_driver
{
namespace primary_interface
{
enum class message_type : int8_t
enum class robot_message_type : int8_t
{
DISCONNECT = -1,
ROBOT_STATE = 16,
@@ -50,38 +50,11 @@ enum class message_type : int8_t
PROGRAM_STATE_MESSAGE = 25
};
enum class robot_state_type : uint8_t
{
ROBOT_MODE_DATA = 0,
JOINT_DATA = 1,
TOOL_DATA = 2,
MASTERBOARD_DATA = 3,
CARTESIAN_INFO = 4,
KINEMATICS_INFO = 5,
CONFIGURATION_DATA = 6,
FORCE_MODE_DATA = 7,
ADDITIONAL_INFO = 8,
CALIBRATION_DATA = 9
};
enum class robot_message_type : uint8_t
{
ROBOT_MESSAGE_TEXT = 0,
ROBOT_MESSAGE_PROGRAM_LABEL = 1,
PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
ROBOT_MESSAGE_VERSION = 3,
ROBOT_MESSAGE_SAFETY_MODE = 5,
ROBOT_MESSAGE_ERROR_CODE = 6,
ROBOT_MESSAGE_KEY = 7,
ROBOT_MESSAGE_REQUEST_VALUE = 9,
ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
};
class Header
class PackageHeader
{
public:
Header() = default;
virtual ~Header() = default;
PackageHeader() = default;
virtual ~PackageHeader() = default;
using _package_size_type = int32_t;
static size_t getPackageLength(uint8_t* buf)

4
include/ur_rtde_driver/primary/primary_package.h
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@@ -28,14 +28,14 @@
#ifndef UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED
#define UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED
#include "ur_rtde_driver/primary/primary_header.h"
#include "ur_rtde_driver/primary/package_header.h"
#include "ur_rtde_driver/comm/package.h"
namespace ur_driver
{
namespace primary_interface
{
class PrimaryPackage : comm::URPackage<Header>
class PrimaryPackage : comm::URPackage<PackageHeader>
{
public:
PrimaryPackage() = default;

13
include/ur_rtde_driver/primary/robot_message.h
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@@ -34,6 +34,19 @@ namespace ur_driver
{
namespace primary_interface
{
enum class message_type : uint8_t
{
ROBOT_MESSAGE_TEXT = 0,
ROBOT_MESSAGE_PROGRAM_LABEL = 1,
PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
ROBOT_MESSAGE_VERSION = 3,
ROBOT_MESSAGE_SAFETY_MODE = 5,
ROBOT_MESSAGE_ERROR_CODE = 6,
ROBOT_MESSAGE_KEY = 7,
ROBOT_MESSAGE_REQUEST_VALUE = 9,
ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
};
class RobotMessage : PrimaryPackage
{
public:

14
include/ur_rtde_driver/primary/robot_state.h
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@@ -38,6 +38,20 @@ namespace ur_driver
{
namespace primary_interface
{
enum class robot_state_type : uint8_t
{
ROBOT_MODE_DATA = 0,
JOINT_DATA = 1,
TOOL_DATA = 2,
MASTERBOARD_DATA = 3,
CARTESIAN_INFO = 4,
KINEMATICS_INFO = 5,
CONFIGURATION_DATA = 6,
FORCE_MODE_DATA = 7,
ADDITIONAL_INFO = 8,
CALIBRATION_DATA = 9
};
struct version_message
{
uint64_t timestamp;