universal_robots_ros_driver/include/ur_modern_driver/ur/messages.h

#pragma once
#include <cstddef>
#include <inttypes.h>
#include "ur_modern_driver/packet.h"

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 MessageBase : public Packet {
public:
    virtual bool parse_with(BinParser &bp) = 0;

    uint64_t timestamp;
    uint8_t source;
};

class VersionMessage : public MessageBase {
public:
    bool parse_with(BinParser &bp);

    std::string project_name;
    uint8_t major_version;
    uint8_t minor_version;
    int32_t svn_version;
    std::string build_date;
};