header files for messages added

.gitignore

@@ -5,3 +5,5 @@ cmake_install.cmake
 install_manifest.txt
 *~
 .idea
+.directory
+.vscode

include/ur_rtde_driver/primary/kinematics_info.h

@@ -0,0 +1,51 @@
+// 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_KINEMATICS_INFO_H_INCLUDED
+#define UR_RTDE_DRIVER_KINEMATICS_INFO_H_INCLUDED
+
+#include "ur_rtde_driver/primary/primary_package.h"
+#include "ur_rtde_driver/primary/robot_state.h"
+
+namespace ur_driver
+{
+namespace primary_interface
+{
+class KinematicsInfo : PrimaryPackage
+{
+private:
+  RobotState robot_state_;
+
+public:
+  KinematicsInfo() = default;
+  virtual ~KinematicsInfo() = default;
+};
+
+}  // namespace primary_interface
+}  // namespace ur_driver
+
+#endif /* UR_RTDE_DRIVER_KINEMATICS_INFO_H_INCLUDED */

include/ur_rtde_driver/primary/primary_header.h

@@ -0,0 +1,107 @@
+// 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  Felix Mauch mauch@fzi.de
+ * \author  Lea Steffen steffen@fzi.de
+ * \date    2019-04-01
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_PRIMARY_INTERFACE_H_INCLUDED
+#define UR_RTDE_DRIVER_PRIMARY_INTERFACE_H_INCLUDED
+
+#include <inttypes.h>
+#include <cstddef>
+#include <endian.h>
+#include "ur_rtde_driver/types.h"
+
+namespace ur_driver
+{
+namespace primary
+{
+enum class message_type : int8_t
+{
+  DISCONNECT = -1,
+  ROBOT_STATE = 16,
+  ROBOT_MESSAGE = 20,
+  HMC_MESSAGE = 22,
+  MODBUS_INFO_MESSAGE = 5,
+  SAFETY_SETUP_BROADCAST_MESSAGE = 23,
+  SAFETY_COMPLIANCE_TOLERANCES_MESSAGE = 24,
+  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
+{
+public:
+  Header() = default;
+  virtual ~Header() = default;
+
+  using _package_size_type = int32_t;
+  static size_t getPackageLength(uint8_t* buf)
+  {
+    return be32toh(*(reinterpret_cast<int32_t*>(buf)));
+  }
+
+  static size_t getPackageSize()
+  {
+    return sizeof(package_size_);
+  }
+
+  
+
+private:
+  int32_t package_size_;
+  int8_t package_type_;
+};
+}  // namespace primary_interface
+}  // namespace ur_driver
+
+#endif  // ifndef UR_RTDE_DRIVER_PRIMARY_INTERFACE_H_INCLUDED

include/ur_rtde_driver/primary/primary_package.h

@@ -0,0 +1,54 @@
+// 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_PRIMARY_PACKAGE_H_INCLUDED
+#define UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED
+
+#include "ur_rtde_driver/primary/primary_header.h"
+
+namespace ur_driver
+{
+namespace primary_interface
+{
+
+
+class PrimaryPackage
+{
+private:
+  uint8_t* data_buffer_;
+public:
+  PrimaryPackage() = default;
+  virtual ~PrimaryPackage() = default;
+
+  
+};
+
+
+}  // namespace primary_interface
+}  // namespace ur_driver
+
+#endif /* UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED */

include/ur_rtde_driver/primary/robot_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_ROBOT_MESSAGE_H_INCLUDED
+#define UR_RTDE_DRIVER_ROBOT_MESSAGE_H_INCLUDED
+
+#include "ur_rtde_driver/primary/primary_package.h"
+
+namespace ur_driver
+{
+namespace primary_interface
+{
+class RobotMessage : PrimaryPackage
+{
+public:
+  RobotMessage() = default;
+  virtual ~RobotMessage() = default;
+};
+
+}  // namespace primary_interface
+}  // namespace ur_driver
+
+#endif /* UR_RTDE_DRIVER_ROBOT_MESSAGE_H_INCLUDED */

include/ur_rtde_driver/primary/robot_mode_data.h

@@ -0,0 +1,51 @@
+// 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_ROBOT_MODE_DATA_H_INCLUDED
+#define UR_RTDE_DRIVER_ROBOT_MODE_DATA_H_INCLUDED
+
+#include "ur_rtde_driver/primary/primary_package.h"
+#include "ur_rtde_driver/primary/robot_state.h"
+
+namespace ur_driver
+{
+namespace primary_interface
+{
+class RobotModeData : PrimaryPackage
+{
+private:
+  RobotState robot_state_;
+
+public:
+  RobotModeData() = default;
+  virtual ~RobotModeData() = default;
+};
+
+}  // namespace primary_interface
+}  // namespace ur_driver
+
+#endif /* UR_RTDE_DRIVER_ROBOT_MODE_DATA_H_INCLUDED */

include/ur_rtde_driver/primary/robot_state.h

@@ -0,0 +1,117 @@
+// 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_ROBOT_STATE_H_INCLUDED
+#define UR_RTDE_DRIVER_ROBOT_STATE_H_INCLUDED
+
+#include <mutex>
+#include <condition_variable>
+
+#include "ur_rtde_driver/primary/primary_package.h"
+#include "ur_rtde_driver/primary/primary_header.h"
+
+namespace ur_driver
+{
+namespace primary_interface
+{
+struct version_message
+{
+  uint64_t timestamp;
+  int8_t source;
+  int8_t robot_message_type;
+  int8_t project_name_size;
+  char project_name[15];
+  uint8_t major_version;
+  uint8_t minor_version;
+  int svn_revision;
+  char build_date[25];
+};
+
+struct masterboard_data
+{
+  int digitalInputBits;
+  int digitalOutputBits;
+  char analogInputRange0;
+  char analogInputRange1;
+  double analogInput0;
+  double analogInput1;
+  char analogOutputDomain0;
+  char analogOutputDomain1;
+  double analogOutput0;
+  double analogOutput1;
+  float masterBoardTemperature;
+  float robotVoltage48V;
+  float robotCurrent;
+  float masterIOCurrent;
+  unsigned char safetyMode;
+  unsigned char masterOnOffState;
+  char euromap67InterfaceInstalled;
+  int euromapInputBits;
+  int euromapOutputBits;
+  float euromapVoltage;
+  float euromapCurrent;
+};
+
+struct robot_mode_data
+{
+  uint64_t timestamp;
+  bool isRobotConnected;
+  bool isRealRobotEnabled;
+  bool isPowerOnRobot;
+  bool isEmergencyStopped;
+  bool isProtectiveStopped;
+  bool isProgramRunning;
+  bool isProgramPaused;
+  unsigned char robotMode;
+  unsigned char controlMode;
+  double targetSpeedFraction;
+  double speedScaling;
+};
+
+class RobotState : PrimaryPackage
+{
+private:
+  robot_state_type robot_state_;
+  /*
+      version_message version_msg_;
+    masterboard_data mb_data_;
+    robot_mode_data robot_mode_;
+      std::recursive_mutex val_lock_; // Locks the variables while unpack parses data;
+    std::condition_variable* pMsg_cond_; //Signals that new vars are available
+    bool new_data_available_; //to avoid spurious wakes
+    unsigned char robot_mode_running_;
+  double ntohd(uint64_t nf); */
+
+public:
+  RobotState() = default;
+  virtual ~RobotState() = default;
+};
+
+}  // namespace primary_interface
+}  // namespace ur_driver
+
+#endif /* UR_RTDE_DRIVER_ROBOT_STATE_H_INCLUDED */

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