header files for messages added

include/ur_rtde_driver/rtde/data_package.h

@@ -0,0 +1,50 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Lea Steffen steffen@fzi.de
+ * \date    2019-04-01
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_DATA_PACKAGE_H_INCLUDED
+#define UR_RTDE_DRIVER_DATA_PACKAGE_H_INCLUDED
+
+#include "ur_rtde_driver/rtde/rtde_package.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+class DataPackage : RTDEPackage
+{
+private:
+  uint8_t recipe_id_;
+
+public:
+  DataPackage() = default;
+  virtual ~DataPackage() = default;
+};
+
+}  // namespace rtde_interface
+}  // namespace ur_driver
+
+#endif  // ifndef UR_RTDE_DRIVER_DATA_PACKAGE_H_INCLUDED

include/ur_rtde_driver/rtde/rtde_header.h

@@ -0,0 +1,69 @@
+ 
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Lea Steffen steffen@fzi.de
+ * \date    2019-04-01
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_RTDE__HEADER_H_INCLUDED
+#define UR_RTDE_DRIVER_RTDE__HEADER_H_INCLUDED
+
+#include <cstddef>
+#include <endian.h>
+#include "ur_rtde_driver/types.h"
+
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+
+
+enum class PackageType
+{
+  RTDE_REQUEST_PROTOCOL_VERSION = 86,       // ascii V
+  RTDE_GET_URCONTROL_VERSION = 118,         // ascii v
+  RTDE_TEXT_MESSAGE = 77,                   // ascii M
+  RTDE_DATA_PACKAGE = 85,                   // ascii U
+  RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS = 79,  // ascii O
+  RTDE_CONTROL_PACKAGE_SETUP_INPUTS = 73,   // ascii I
+  RTDE_CONTROL_PACKAGE_START = 83,          // ascii S
+  RTDE_CONTROL_PACKAGE_PAUSE = 80           // ascii P
+};
+
+
+class Header
+{
+public:
+  Header() = default;
+  virtual ~Header() = default;
+
+  static size_t getPackageLength(uint8_t* buf)
+  {
+    return be16toh(*(reinterpret_cast<uint16_t*>(buf)));
+  }
+
+  static size_t getPackageSize()
+  {
+    return sizeof(package_size_);
+  }
+
+
+private:
+  uint16_t package_size_;
+  PackageType package_type_;
+};
+
+
+}  // namespace rtde_interface
+}  // namespace ur_driver
+
+#endif  // #ifndef UR_RTDE_DRIVER_RTDE__HEADER_H_INCLUDED

include/ur_rtde_driver/rtde/rtde_package.h

@@ -0,0 +1,53 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Lea Steffen steffen@fzi.de
+ * \date    2019-04-01
+ *
+ */
+//----------------------------------------------------------------------
+
+
+#ifndef UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED
+#define UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED
+
+#include "ur_rtde_driver/rtde/rtde_header.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+
+
+class RTDEPackage
+{
+public:
+  RTDEPackage() = default;
+  virtual ~RTDEPackage() = default;
+
+  
+};
+
+
+}  // namespace rtde_interface
+}  // namespace ur_driver
+
+#endif  // UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED

include/ur_rtde_driver/rtde/text_message.h

@@ -0,0 +1,47 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Lea Steffen steffen@fzi.de
+ * \date    2019-04-01
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_TEXT_MESSAGE_H_INCLUDED
+#define UR_RTDE_DRIVER_TEXT_MESSAGE_H_INCLUDED
+
+#include "ur_rtde_driver/rtde/rtde_package.h"
+
+namespace ur_driver
+{
+namespace rtde_interface
+{
+class TextMessage : RTDEPackage
+{
+public:
+  TextMessage() = default;
+  virtual ~TextMessage() = default;
+};
+
+}  // namespace rtde_interface
+}  // namespace ur_driver
+
+#endif  // UR_RTDE_DRIVER_TEXT_MESSAGE_H_INCLUDED